九自由度超冗余机械臂的设计和测试

何俊培; 徐振邦; 于阳; 韩春杨; 吴清文

doi:10.3788/OPE.20172514.0080

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九自由度超冗余机械臂的设计和测试

更新时间：2020-08-13

- 九自由度超冗余机械臂的设计和测试
- Design and experimental testing of a 9-DOF hyper-redundant robotic arm
- 光学精密工程 2017年25卷第12z期页码：80-86
- 作者机构：
  
  1. 中国科学院长春光学精密机械与物理研究所,吉林长春,中国,130033
  2. 中国科学院大学北京,中国,100049
- 作者简介：
- 基金信息：
  
  国家自然科学基金资助项目（No.11672290）();吉林省科技发展计划资助项目（No.20160520074JH）();中国科学院青年创新促进会资助项目（No.20
- DOI：10.3788/OPE.20172514.0080
  中图分类号： TP242.6
- 收稿日期：2017-08-24，
  
  修回日期：2017-09-17，
  
  纸质出版日期：2017-12-31
- 稿件说明：
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何俊培, 徐振邦, 于阳等. 九自由度超冗余机械臂的设计和测试[J]. 光学精密工程, 2017,25(12z): 80-86

HE Jun-pei, XU Zhen-bang, YU Yang etc. Design and experimental testing of a 9-DOF hyper-redundant robotic arm[J]. Editorial Office of Optics and Precision Engineering, 2017,25(12z): 80-86
何俊培, 徐振邦, 于阳等. 九自由度超冗余机械臂的设计和测试[J]. 光学精密工程, 2017,25(12z): 80-86 DOI： 10.3788/OPE.20172514.0080.

HE Jun-pei, XU Zhen-bang, YU Yang etc. Design and experimental testing of a 9-DOF hyper-redundant robotic arm[J]. Editorial Office of Optics and Precision Engineering, 2017,25(12z): 80-86 DOI： 10.3788/OPE.20172514.0080.

摘要

为了更好地执行空间在轨服务任务，设计了面向空间的超冗余九自由度串联机械臂。该串联臂由一种大输出力矩、大减速比、小关节长度的机械臂关节组成，具有结构紧凑、灵活性好、空间避障能力强等特点。首先，介绍了串联臂的设计要求和单关节的主要元器件。接着，以两个关节的传动方式为例分析了串联臂的工作原理，即通过输出轴上的关节连接轴来实现力矩的传递。然后，基于脊椎曲线方法对串联臂末端位置坐标进行推导。最后，对串联臂进行了性能测试。实验结果表明：单关节的输出扭矩值可达190 N·m，运转角速度可达0.14 rad/s，该九自由度机械臂最底端关节的旋转角度误差可控制在0.1°以内。本文设计的九自由度超冗余机械臂具有很好的可重构性，能够满足不同场合的应用需求。

Abstract

In order to perform on-orbit service tasks better

a spatial 9-DOF hyper-redundant robotic manipulator was designed. This manipulator could provide a large output torque

large reduction ratio and small joint length

with the characteristics of compact structure

high flexibility

space obstacle avoidance and etc. First

the design requirements of manipulator and main components of one joint were presented. Operating principle of the manipulator were analyzed by taking the driving method of two joints as an example. The torque was transferred via connecting shaft of output shaft. Then based on the method of backbone curve

the end-position coordinate of the manipulator was derived. Finally

the performance parameters of the manipulator were tested. The results show that the output torque of single joint can be up to 190 N·m and the angular velocity of single joint reaches 0.14 rad/s. The rotation angle error of the bottom joint of the 9-DOF manipulator is reduced within 0.1°. The proposed 9-DOF hyper-redundant robotic manipulator is reconfigurable and suitable for many different applications.

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references

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