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在与眼球运动相关的解剖学和运动学的基础上,设计了一种符合Listing定理的基于混合驱动柔索并联机构的3自由度机器人仿生眼.通过矢量封闭方法建立了逆运动学模型,求解出柔索并联机器人的雅可比矩阵和结构矩阵.利用达朗贝尔定理建立柔索并联机器人的力矩平衡方程组,采用广义逆矩阵的相关理论,以柔索张力矢量的2范数最小为目标进行张力优化.用蒙特卡洛方法计算出仿生眼球可达工作空间.最后,在Simulink环境下进行仿真,规划运动轨迹并得到柔索并联机器人运动特性的仿真结果,证明了本文设计的机构符合Listing定理.结果表明:基于混合驱动柔索并联机构的机器人仿生眼结构合理,数学模型正确.
Based on the anatomy and kinematics related to eye movements, a 3-DOF biomimetic robot based on the mixed-drive flexible cable parallel mechanism that meets Listing’s theorem is designed. The inverse kinematics model is established by the vector closed method, and the solution Jacobi matrix and structure matrix of the jib crane with parallel robots.Matrix equations of moments for the jib robot with soft pull are established by using the Dalanebel theorem, and the theory of generalized inverse matrix is applied to minimize the norm of nodule tension vector Tension optimization Monte Carlo method to calculate the bionic eye reachable workspace.Finally, simulation in Simulink environment, the planning of motion trajectory and get the simulation results of the cable-parallel robot kinematics prove that the mechanism designed in this paper meets the Listing theorem The results show that the bionic eye structure based on the hybrid - driven flexible cable parallel mechanism is reasonable and the mathematical model is correct.