机器人双臂建模与击掌碰撞虚拟样机仿真.pdf

第22 卷第3 期 中 国 计 量 学 院 学 报 Vol. 22 No. 3 2011年9 月 Journal of China University of Metrology Sep. 20 11 【文章编号】 1004- 1 40( 2011) 03-02 7-06 严冬明, 王斌锐, 金英连 ( 中国计量学院机电工程学院, 浙江杭州 310018) 【 】 碰撞是仿人机器人研究的难点. 今设计了 自由度仿人机器人上肢体, 并且基于雅克比矩阵建立 了速度运动学模型; 基于拉格朗日能量函数法, 建立了动力学模型; 采用广义非线性等效弹簧阻尼模型, 建立 了碰撞动力学模型. 参照人体特性, 搭建了ADAMS 虚拟样机仿真平台, 进行了上肢体击掌动作仿真 验, 开 展了不同刚度系数值下的手部接触碰撞仿真. 验曲线表明动作仿人, 角速度曲线满足正弦曲线形态; 碰撞 中, 肘关节所受力矩最大; 缓冲后, 腕关节所受力矩大于肘关节. 证明碰撞仿真平台有效, 碰撞时应采用较小的 仿真步长. 【】 仿人机器人; 双臂建模; 虚拟样机 【】 TP242 【】 A Vi rtual prototype modeling and handclap collisi on simulation of robot upper limbs YAN Dong-ming, WANG Bin- rui, JIN Ying-lian ( College of Mechanical and Electrical Engineering, China Jiliang U niversity, H angzhou 310018, China) Abstract: Collision safet y has been one of the most important issues for humanoid robots study. Now, humanoid robot upper limbs w ere w ith degrees of freedom. Based on Jacobian matrix and Lagrange dynamics equat ion, velocity kinameitcs and dynamatics of the upper limbs were deduced. The impact dynamic model w as established by using the nonlinear equivalent spring damping model. Reference t o adult body size, virt ual prototype model was built through ADAMS softw are. Simulations study had been carried based on the action of clapping hands. Various stiffness experiments were carried out during dynamic collision simulations. Simulation results show ed that protot ype motion w as bionic, and joint s velocity curves meet the form of sinusoidal curve. During collision of handclapping, the maximal impact influence w as on elbow joint. After buffering, w rist joint w as influence