Design and Kinematics Analysis of (2SPS/U)&amp;(2SPS/RR) Type Parallel Humanoid Manipulator

Zhiguang Ma; Kangkang Wang; Leile Zhang; Shaowei Jia; Can Chen

doi:10.16578/j.issn.1004.2539.2021.03.011

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Design and Kinematics Analysis of (2SPS/U)&(2SPS/RR) Type Parallel Humanoid Manipulator

Design· Calculation | 更新时间：2022-11-10

- Design and Kinematics Analysis of (2SPS/U)&(2SPS/RR) Type Parallel Humanoid Manipulator
- Journal of Mechanical Transmission Vol. 45, Issue 3, Pages: 64-68(2021)
- 作者机构：
  
  1.河南开放大学机电工程学院，河南郑州 450008
  2.郑州机械研究所有限公司智能装备事业部，河南郑州 450001
  3.北京航空航天大学生物医学与工程学院，北京 100191
- 作者简介：
- 基金信息：
- DOI：10.16578/j.issn.1004.2539.2021.03.011
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马志广,王康康,张磊乐等.（2SPS/U）&（2SPS/RR）型并联拟人机械臂的设计与运动学分析[J].机械传动,2021,45(03):64-68.

Ma Zhiguang,Wang Kangkang,Zhang Leile,et al.Design and Kinematics Analysis of (2SPS/U)&(2SPS/RR) Type Parallel Humanoid Manipulator[J].Journal of Mechanical Transmission,2021,45(03):64-68.
马志广,王康康,张磊乐等.（2SPS/U）&（2SPS/RR）型并联拟人机械臂的设计与运动学分析[J].机械传动,2021,45(03):64-68. DOI： 10.16578/j.issn.1004.2539.2021.03.011.

Ma Zhiguang,Wang Kangkang,Zhang Leile,et al.Design and Kinematics Analysis of (2SPS/U)&(2SPS/RR) Type Parallel Humanoid Manipulator[J].Journal of Mechanical Transmission,2021,45(03):64-68. DOI： 10.16578/j.issn.1004.2539.2021.03.011.

摘要

针对现有仿生拟人机械臂连续性差、稳定性差和惯性冲击大的问题，提出了一种新型并联拟人机械臂，可以模拟人的腕关节、肘关节、肩关节动作，采用（2SPS/U）&（2SPS/RR）的二级耦合并联机构来驱动各个关节动作。为得到其运动学正反解，利用封闭矢量法和牛顿迭代法计算得到两级并联机构的运动学正反解；并将整个拟人臂的机构构型进行简化，基于D-H法对整个机构进行了位置正反解的计算和验证。

Abstract

As the existing bionic humanoid manipulator has large inertia impaction， poor continuity and stability， a novel humanoid manipulator is presented. The humanoid arm can simulate the wrist joint， elbow joint and shoulder joint. The (2SPS/U)&(2SPS/RR) two-stage coupling parallel mechanism is used to drive each joint action In order to obtain its inverse and forward kinematics， the closed vector method and Newton iteration method are used to calculate the positive and negative kinematics solutions of the two-stage parallel mechanism， and then the mechanism configuration of the whole artificial arm is simplified. Based on the D-H method， the forward and inverse position solutions of the whole mechanism are given and validated.

关键词

拟人臂并联机构运动学

Keywords

Humanoid manipulatorParallel mechanismKinematics

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Related Institution

School of Mechanical Engineering, Chongqing University of Technology

School of Mechanical Electrical Engineering and Intelligent Manufacturing， HeNan Open University

School of Biological Science and Medical Engineering， Beihang University

College of Electrical Engineering and Intelligent Manufacturing， Chongqing Metropolitan College of Science and Technology

School of Mechanical Engineering，Sichuan University

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Design and Kinematics Analysis of (2SPS/U)&(2SPS/RR) Type Parallel Humanoid Manipulator

DOI：10.16578/j.issn.1004.2539.2021.03.011

摘要

Abstract

关键词

Keywords

references