1、 气动气动机械手机械手关节结关节结构设计构设计及及运动学运动学仿真仿真分析分析 摘 要 随着微电子技术、传感器技术、控制技术和机械制造工艺水平的飞速发展， 机器人的应用领域逐步从汽车拓展到其它领域。在各种类型的机器人中，模拟人 体手臂而构成的关节型机器人， 具有结构紧凑、 所占空间小、 运动空间大等优点， 是应用最为广泛的机器人之一。 尤其由柔性关节组成的柔性仿生机器人在服务机 器人及康复机器人领域中的应用和需求越来越突出。 本课题重点在于气动机械手关节结构参数化设计和其可行性分析。 由于气动 肌肉柔性关节的研究历史短、资料少，肌肉本身的动特性还在研究中，因此本课 题具有一定的难度，在研究过程
2、中注重静态指标的满足。 本文重点解决的问题结构设计及仿真。 本课题中主要内容是： （1）设计气动机械手关节结构； （2）关节结构的参数设计； （3）用仿真软件进行运动过程模拟分析以此来改善结构设计，直到得出满意的 结果为止。 目标：满足气动机械手关节结构的设计要求。 关键词：气动肌肉；结构设计；气动机械手关节；运动学仿真 气动机械手关节结构设计及运动学仿真分析 2 Abstract With the rapid development of microelectronic technology, sensor technology, control technology and the rap
3、id 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 accounte
4、d, 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 an
5、alysis 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
6、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 d
