基于人体关节的七自由度仿人手臂设计与分析

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According to the characteristics of the human joint, the parallel mechanisms are used to be the human arm joints. Two parallel mechanism modules are defined ： orthogonal 3-RRR spherical mechanism （ Ss） , orthogonal 2-RR spherical parallel mechanism （ S^U ）. According to the kinematics of the human joints, the shoulder joint features 3 DOFs with Ss, and the elbow and wrist joints have 2 DOFs and be structured with SU. A serial-parallel anthropomorphic arm comes into being by linking these modules serially. The two angles of the modules are defined： input angle and output angle as well as the expression of which is obtained. In the last, the inverse position of the humanoid arm is analyzed, and a simulation is established to testify its correctness. The research in this paper is the basis of the control system of the arm in the future.根据人体关节特点，提出采用并联机构作为机器人手臂的各个关节。定义两种并联机构模块：正交三自由度球面并联机构3-RRR，用S^s来表示；正交两自由度球面并联机构2-RR，用S^s来表示。根据人手臂的关节的运动特点，采用模块S^s作为手臂的肩关节，用模块S^U作为手臂的肘关节和腕关节，串联起来设计了串并联七自由度手臂。定义了模块的输入角度和输出角度，得出了两种角度的数值关系。在此基础上对7自由度手臂进行了位置分析，通过仿真验证了其正确性。为控制系统的研究奠定了基础。