Research on Dynamic Characteristics of Serial-Parallel Combination Joint with Flexible-Cable
Research on Dynamic Characteristics of Serial-Parallel Combination Joint with Flexible-Cable
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DOI：
10.4028/www.scientific.net/aef.2-3.285
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发表时间：
2011-02
期刊：
影响因子：
--
通讯作者：
L. Fang;Yongle Wei;Guanghong Tao
中科院分区：
文献类型：
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作者：
L. Fang;Yongle Wei;Guanghong Tao
为了设计人形双臂高压输电线路巡检机器人，给出了机器人模型，介绍了机器人越障的工作机理，分析了机器人运动时的运动轨迹。基于拉格朗日方程建立了串联驱动和串并联驱动机械臂的动力学方程，并对腕关节和肘关节的动态特性进行了仿真。串联驱动机械臂的数值模拟结果表明，机器人水平和垂直运动时肘关节具有很大的扭矩。然而，串并驱动机械臂的数值模拟结果表明，与串行驱动机械臂相比，肘关节扭矩大大减小。通过仿真实验结果分析可以看出，这种带有软电缆的串并联组合驱动关节与串联驱动关节相比，大大降低了肘部扭矩，提高了机械臂的负载能力，可以解决双臂巡检机器人串联驱动关节扭矩过高的问题。
In order to design the humanoid dual-arms high voltage transmission line inspection robot, the robot model is given and the working mechanism of the robot crossing obstacles is introduced, and the motion trajectory of the robot when it is moving is analyzed. The dynamic equations of the serial driven and the serial-parallel driven robotic arm are presented based on Lagrange equation and the dynamic characteristics of the wrist and elbow joint are simulated. The numerical simulation result of the serial driven robotic arm shows that the elbow joint has great torque when the robot moves horizontally and vertically. However, the numerical simulation result of the serial-parallel driven robotic arm shows that the elbow joint torque reduces greatly comparing with the serial driven arm. By analyzing the results of the simulation experiment, it can be seen that this serial-parallel combination driven joint with flexible-cable can reduce the elbow torque greatly and improve the load capacity of robotic arm comparing with the serial driven joint, which can solve the problem that the torque of serial driven joint in dual-arms inspection robot is too high.