Development of a redundant anthropomorphic hydraulically actuated manipulator with a roll-pitch-yaw spherical wrist

Frontiers of Mechanical Engineering - Tập 16 - Trang 698-710 - 2021
Min Cheng1, Zenan Han1, Ruqi Ding2, Junhui Zhang3, Bing Xu3
1State Key Laboratory of Mechanical Transmissions, Chongqing University, Chongqing, China
2Key Laboratory of Conveyance and Equipment, Ministry of Education, East China Jiaotong University, Nanchang, China
3State Key Laboratory of Fluid Power and Mechatronic Systems, Zhejiang University, Hangzhou, China

Tóm tắt

The demand for redundant hydraulic manipulators that can implement complex heavy-duty tasks in unstructured areas is increasing; however, current manipulator layouts that remarkably differ from human arms make intuitive kinematic operation challenging to achieve. This study proposes a seven-degree-of-freedom (7-DOF) redundant anthropomorphic hydraulically actuated manipulator with a novel roll-pitch-yaw spherical wrist. A hybrid series-parallel mechanism is presented to achieve the spherical wrist design, which consists of two parallel linear hydraulic cylinders to drive the yaw/pitch 2-DOF wrist plate connected serially to the roll structure. Designed as a 1RPRRR-1SPU mechanism (“R”, “P”, “S”, and “U” denote revolute, prismatic, spherical, and universal joints, respectively; the underlined letter indicates the active joint), the 2-DOF parallel structure is partially decoupled to obtain simple forward/inverse kinematic solutions in which a closed-loop subchain “RPRR” is included. The 7-DOF manipulator is then designed, and its third joint axis goes through the spherical center to obtain closed-form inverse kinematic computation. The analytical inverse kinematic solution is drawn by constructing self-motion manifolds. Finally, a physical prototype is developed, and the kinematic analysis is validated via numerical simulation and test results.

Tài liệu tham khảo

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