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分析了一种绳驱动拟人臂机器人的笛卡尔刚度,这种7自由度机械臂具有特殊的串并混联结构,机械臂的肩关节和腕关节均为绳驱动3自由度球关节,通过对其刚度表达式的推导,再结合串联机器人刚度分析方法,描述了机械臂整体笛卡尔刚度矩阵的求解过程.首先描述了绳驱动3自由度球关节的推导过程,用以求解肩关节和腕关节的刚度;然后计算单自由度肘关节的刚度;最后通过结合肩、肘和腕刚度得到的关节空间刚度矩阵,运用修正的一致保守变换得到绳驱动拟人臂机器人的笛卡尔刚度.基于以上的刚度分析,提出了一种刚度优化算法用于改善机器人在运动过程中的刚度,仿真分析验证了这种算法的有效性.
The Cartesian rigidity of a rope-driven anthropomorphic robot is analyzed. The seven-degree-of-freedom manipulator has a special series-parallel hybrid structure. The shoulder and wrist joints of the manipulator are all rope-driven 3 DOF ball joints. The derivation of its stiffness expression, combined with the stiffness analysis of series robot, describes the solving process of the whole Cartesian stiffness matrix of the manipulator.Firstly, the derivation process of the ball-driven 3 DOF ball joint is described to solve the problem of the shoulder joint and the wrist joint The rigidity of the elbow joint with single degree of freedom is calculated, and finally the Cartesian stiffness of the rope-driven artificial arm robot is obtained by using the modified consistent conservative transformation based on the joint space stiffness matrix obtained by combining the shoulder, elbow and wrist stiffness. Based on the above stiffness A stiffness optimization algorithm is proposed to improve the stiffness of the robot during its movement. Simulation results show the effectiveness of this algorithm.