[1]孙黎霞,宋洪刚,高丙团,等.仿生柔性并联机器人的逆运动学与优化设计[J].东南大学学报(自然科学版),2013,43(4):736-741.[doi:10.3969/j.issn.1001-0505.2013.04.012]
 Sun Lixia,Song Honggang,Gao Bingtuan,et al.Inverse kinematics and optimal design of bio-inspired flexible parallel robot[J].Journal of Southeast University (Natural Science Edition),2013,43(4):736-741.[doi:10.3969/j.issn.1001-0505.2013.04.012]
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仿生柔性并联机器人的逆运动学与优化设计()
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《东南大学学报(自然科学版)》[ISSN:1001-0505/CN:32-1178/N]

卷:
43
期数:
2013年第4期
页码:
736-741
栏目:
自动化
出版日期:
2013-07-20

文章信息/Info

Title:
Inverse kinematics and optimal design of bio-inspired flexible parallel robot
作者:
孙黎霞1宋洪刚1高丙团2汤奕2
1河海大学能源与电气学院, 南京 210098; 2东南大学电气工程学院, 南京 210096
Author(s):
Sun Lixia1 Song Honggang1 Gao Bingtuan2 Tang Yi2
1College of Energy and Electrical Engineering, Hohai University, Nanjing 210098, China
2School of Electrical Engineering, Southeast University, Nanjing 210096, China
关键词:
并联机器人 逆运动学 绳索驱动 优化设计
Keywords:
parallel robot inverse kinematics cable-driven optimal design
分类号:
TP273
DOI:
10.3969/j.issn.1001-0505.2013.04.012
摘要:
提出一种绳索驱动的柔性仿人头颈并联机器人,其基座和动平台由3根绳索和1个压缩弹簧连接.采用压缩弹簧模拟人的颈椎作为并联机器人的支撑脊柱,以绳索模拟人颈部肌肉对机器人进行驱动控制.将作用在动平台上的外力等效为动平台中心的矢量力和力矩,基于力和力矩平衡条件,结合压缩弹簧侧向弯曲方程,解得机器人的逆运动学模型.为了使绳索驱动力最小,以绳子拉力的最小平均值和最小-最大值为优化目标,基于非线性最优化拟牛顿算法对绳索在基座及动平台上端点位置进行了优化设计.仿真结果验证了并联机构逆运动学模型和优化方法的正确性和可行性.
Abstract:
A cable-driven flexible parallel robot mimicking human neck is presented. The fixed base and the moving platform of the robot are connected by three cables and a compression spring. The spring serves as cervical spine to support and facilitate the motion of moving platform corresponding to human head. The cables serve as the muscles around human neck to drive the robot. By transforming external forces to the equivalent force and moment applied at the springs top center and based on force and moment balance, the lateral bending equation of the compression spring is combined to solve inverse kinematics of the robot. To minimize the actuation force, taking the minimum average value and the min-max value as optimal target the optimal design for cable placements is then performed by using the quasi-Newton nonlinear optimization algorithm. Simulation results verify the correctness and feasibility of the inverse kinematics and optimal design of the parallel robot.

参考文献/References:

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备注/Memo

备注/Memo:
作者简介: 孙黎霞(1978—),女,博士,副教授;高丙团(联系人),男,博士,副教授,博士生导师,gaobingtuan@seu.edu.cn.
基金项目: 国家自然科学基金资助项目(11102039)、东南大学远程测控技术江苏省重点实验室开放基金资助项目(7722009001).
引文格式: 孙黎霞,宋洪刚,高丙团,等.仿生柔性并联机器人的逆运动学与优化设计[J].东南大学学报:自然科学版,2013,43(4):736-741. [doi:10.3969/j.issn.1001-0505.2013.04.012]
更新日期/Last Update: 2013-07-20