基于Sarrus结构的5自由度拟人手臂运动学研究

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A novel robotic anthropopathic arm employing Sarrus linkage as its joints is proposed and a 5-DOF anthropopathic arm based on Sarrus linkage is designed according to the structure characteristics and deficiency of general robotic arms. In order to verify the advantages and lay a foundation for optimization of structure design, the forward kinematics characteristics are analyzed with homogeneous coordinates transformation method to obtain the workspace. The posture transformation matrix is derived. The trajectory of the centroid of wrist is plotted, and the results prove that the proposed robotic arm is possessed with common characteristics of general arms, and can extend its workspace. Besides, the robotic arm is highly flexible. The novel robotic anthropopathic arm with Sarrus linkage is able to overcome the limitations of links and expand the workspace, which is superior over other arms, to satisfy the needs of different working conditions.针对目前机器人拟人手臂的结构特点及局限,提出一种将Sarrus结构作为运动关节的新型手臂,并设计一种基于Sarrus结构的5自由度拟人手臂。为验证该优越性并研究其工作空间,同时为结构设计优化提供基础,用齐次坐标变换法对正向运动学进行分析,推导出腕部质心到基准坐标系的姿态变换矩阵,并通过数值计算,得到手腕质心的轨迹曲线。分析结果表明基于Sarrus结构的拟人手臂在具备一般机器人手臂性能的同时,还具有高度的柔性;采用这种新型关节的手臂能够克服自身连杆的限制,并且能够在结构上进一步拓展其工作空间,满足不断变化的工作和环境需求。