氣動(dòng)機(jī)械手關(guān)節(jié)結(jié)構(gòu)設(shè)計(jì)及運(yùn)動(dòng)學(xué)仿真分析

 
摘  要
隨著微電子技術(shù)、傳感器技術(shù)、控制技術(shù)和機(jī)械制造工藝水平的飛速發(fā)展，機(jī)器人的應(yīng)用領(lǐng)域逐步從汽車(chē)拓展到其它領(lǐng)域。在各種類型的機(jī)器人中，模擬人體手臂而構(gòu)成的關(guān)節(jié)型機(jī)器人，具有結(jié)構(gòu)緊湊、所占空間小、運(yùn)動(dòng)空間大等優(yōu)點(diǎn)，是應(yīng)用最為廣泛的機(jī)器人之一。尤其由柔性關(guān)節(jié)組成的柔性仿生機(jī)器人在服務(wù)機(jī)器人及康復(fù)機(jī)器人領(lǐng)域中的應(yīng)用和需求越來(lái)越突出。
本課題重點(diǎn)在于氣動(dòng)機(jī)械手關(guān)節(jié)結(jié)構(gòu)參數(shù)化設(shè)計(jì)和其可行性分析。由于氣動(dòng)肌肉柔性關(guān)節(jié)的研究歷史短、資料少，肌肉本身的動(dòng)特性還在研究中，因此本課題具有一定的難度，在研究過(guò)程中注重靜態(tài)指標(biāo)的滿足。
本文重點(diǎn)解決的問(wèn)題——結(jié)構(gòu)設(shè)計(jì)及仿真。
本課題中主要內(nèi)容是：
（1）設(shè)計(jì)氣動(dòng)機(jī)械手關(guān)節(jié)結(jié)構(gòu)；
（2）關(guān)節(jié)結(jié)構(gòu)的參數(shù)設(shè)計(jì)；
（3）用仿真軟件進(jìn)行運(yùn)動(dòng)過(guò)程模擬分析以此來(lái)改善結(jié)構(gòu)設(shè)計(jì)，直到得出滿意的結(jié)果為止。
目標(biāo)：滿足氣動(dòng)機(jī)械手關(guān)節(jié)結(jié)構(gòu)的設(shè)計(jì)要求。
關(guān)鍵詞：氣動(dòng)肌肉；結(jié)構(gòu)設(shè)計(jì)；氣動(dòng)機(jī)械手關(guān)節(jié)；運(yùn)動(dòng)學(xué)仿真

 
Abstract
With the rapid development of microelectronic technology, sensor technology, control technology and the rapid development of mechanical manufacturing technics, the application of robots is expanded from cars to other fields progressively. In all types of robots, the joint-type robot which is composed of the simulation of human arms, has great advantages such as compact construction, little space accounted, and wide motion space, is one of the most widely used robots.In particular, flexible bio-robot which is composed of flexible joints is applicated and needed more and more prominent in the field of service and rehabilitation.
The focus of this subject is the machanism design and its feasibility analysis of the pneumatic muscle arm joints, and then finish the mechanical design of the machanism parts of anthropomorphic robot joint. Because research history of pneumatic muscles flexible joints is short, information is little, the dynamic characteristics of the muscle is still under study, this subject has certain difficulty,  and pay attention to the satisfaction of the static index in the course of studying.
The problem this passage mainly resolves----mechanical design and simulation.
The main content of this subject:
(1) Design the joint structure of pneumatic manipulator;
(2) Parametric design of the joint structure;
(3)Using simulation software to simulate structure in order to improve the mechanical design until obtain the satisfactory result.
Goal: Achieve the optimized designing of pneumatic manipulator.
Key words: Pneumatic muscles; Structural design; Pneumatic manipulator joint; Kinematics emulation

 
目  錄
摘  要
Abstract
第1章 緒論………………………………………………………………………………………1
1.1研究氣動(dòng)機(jī)械手的意義…………………………………………………………………1
1.2 氣動(dòng)機(jī)械手在國(guó)內(nèi)外的發(fā)展現(xiàn)狀及應(yīng)用………………………………………………2
1.3 氣動(dòng)技術(shù)發(fā)展?fàn)顩r及優(yōu)缺點(diǎn)……………………………………………………………4
1.4 氣動(dòng)機(jī)械手的發(fā)展方向…………………………………………………………………6
第2章 氣動(dòng)機(jī)械手關(guān)節(jié)結(jié)構(gòu)形式設(shè)計(jì)……………………………………………………8
2.1 氣動(dòng)肌肉結(jié)構(gòu)、特性及模型……………………………………………………………8
2.1.1 氣動(dòng)肌肉的基本結(jié)構(gòu)……………………………………………………………8
2.1.2 氣動(dòng)肌肉的特性…………………………………………………………………8
2.1.3 氣動(dòng)肌肉的模型…………………………………………………………………9
2.2 氣動(dòng)機(jī)械手的基本結(jié)構(gòu)………………………………………………………………11
2.3 氣動(dòng)機(jī)械手關(guān)節(jié)結(jié)構(gòu)設(shè)計(jì)……………………………………………………………12
2.3.1 關(guān)節(jié)的基本方式………………………………………………………………12
2.3.2 肩關(guān)節(jié)結(jié)構(gòu)設(shè)計(jì)………………………………………………………………12
2.3.3 肘關(guān)節(jié)結(jié)構(gòu)設(shè)計(jì)………………………………………………………………14
2.3.4 腕關(guān)節(jié)結(jié)構(gòu)設(shè)計(jì)………………………………………………………………16
第3章 氣動(dòng)機(jī)械手關(guān)節(jié)結(jié)構(gòu)參數(shù)設(shè)計(jì)…………………………………………………18
 3.1參數(shù)設(shè)計(jì)優(yōu)點(diǎn)…………………………………………………………………………18
 3.2 肩關(guān)節(jié)結(jié)構(gòu)參數(shù)設(shè)計(jì)…………………………………………………………………18
  3.2.1 第一肩關(guān)節(jié)結(jié)構(gòu)參數(shù)設(shè)計(jì)……………………………………………………18
  3.2.2 第二肩關(guān)節(jié)結(jié)構(gòu)參數(shù)設(shè)計(jì)……………………………………………………20
  3.2.3 第三肩關(guān)節(jié)結(jié)構(gòu)參數(shù)設(shè)計(jì)……………………………………………………22
 3.3 肘關(guān)節(jié)結(jié)構(gòu)參數(shù)設(shè)計(jì)…………………………………………………………………23
  3.3.1 X軸方向上的結(jié)構(gòu)參數(shù)設(shè)計(jì)……………………………………………………23
 
  3.3.2 Y軸方向上的結(jié)構(gòu)參數(shù)設(shè)計(jì)……………………………………………………24
 3.4 腕關(guān)節(jié)結(jié)構(gòu)參數(shù)設(shè)計(jì)…………………………………………………………………26
 
第4章 氣動(dòng)機(jī)械手關(guān)節(jié)的模擬仿真………………………………………………………27
 4.1 仿真內(nèi)容………………………………………………………………………………27
 4.2 仿真方法………………………………………………………………………………27
 4.3 氣動(dòng)機(jī)械手關(guān)節(jié)的運(yùn)動(dòng)學(xué)分析………………………………………………………28
4.3.1 第一肩關(guān)節(jié)的運(yùn)動(dòng)仿真及分析…………………………………………………28
4.3.2 第二肩關(guān)節(jié)的運(yùn)動(dòng)仿真及分析…………………………………………………28
4.3.3 肘關(guān)節(jié)X軸方向的運(yùn)動(dòng)仿真及分析……………………………………………29
4.3.4 肘關(guān)節(jié)Y軸方向的運(yùn)動(dòng)仿真及分析……………………………………………30
4.3.5 腕關(guān)節(jié)X軸方向的運(yùn)動(dòng)仿真及分析……………………………………………31
 
4.3.6 腕關(guān)節(jié)Z軸方向的運(yùn)動(dòng)仿真及分析……………………………………………32
4.3.7 第一二肩關(guān)節(jié)，肘關(guān)節(jié)X軸方向，腕關(guān)節(jié)X軸方向的運(yùn)動(dòng)仿真及分析………32
4.3.8 第一二肩關(guān)節(jié)，肘關(guān)節(jié)Y軸方向，腕關(guān)節(jié)Z軸方向的運(yùn)動(dòng)仿真及分析………33
第5章 結(jié)論……………………………………………………………………………………33
參考文獻(xiàn)………………………………………………………………………………………34
致謝……………………………………………………………………………………………36