仿人机器人混联灵巧手臂设计及运动学逆解研究

摘要

Under the background of the research on humanoid dextrous manipulator used for On-Orbit Servicing ( OOS) , a novel hybrid humanoid dextrous manipulator was proposed. It adopted 2-DOF spher-ical parallel manipulator ( SPM) connected with two revolute pairs in series form as kinematic chains, that allow for increased load-to-weight ratio, speed, stiffness and dexterity. Closed-form solutions to the forward position of this hybrid manipulator were presented according to the structural characteristics of this manipulator. The inverse kinematics problem was solved by sensorimotor representations combine with on-line PD compensation. Trajectory tracking simulation and reaching movement experiment for this manipu-lator was carried out, the result could be considered to conform to the natural human arm gesture, and the effectiveness and the engineering applicability of this method were verified.%以在轨服务仿人灵巧机械臂为研究背景，提出一种混联结构的仿人机器人灵巧手臂，并研究了具有自然姿态的运动学逆解方法。采用2-DOF球面并联机构前后串联转动低副的混联结构布置传动链，力图在载荷质量比、刚度及灵巧性上取得更好的性能。根据结构特点推导了正运动学解析解，并利用神经生理学感知运动模型联合在线PD补偿方法获得符合人类手臂自然姿态的逆运动学最优解。进行了轨迹跟踪仿真与手臂伸出定位试验，试验过程中机械臂样机近似保持着人类手臂的自然姿态，结果验证了运动学分析及所提方案的有效性与工程适用性。