The Research Of Bispherical Hybrid Bionic Shoulder Joint With Five Degrees Of Freedom

Humanoid robot is one of the important directions in robot research and is currently a hot topic in international academic and industry.Among them,the bionic joint is an important part of the humanoid robot in achieving the form and function of bionics.The shoulder joint is the largest and most flexible joint in the human body.The design and research of the bionic shoulder joint have great influence on the bionic performance of humanoid robots.This paper mainly focuses on a new type of five-degree-of-freedom double-sphere hybrid bionic shoulder joint mechanism.It aims to expand the workspace and improve the bionic effect.The main content of the paper is as follows:Analytical solution analysis method is used to establish constraint equations according to the geometric characteristics of the mechanism,solve the 2PUS+U two-degree-of-freedom spherical parallel shoulder strap mechanism,and(2PUS+U)-(3RRR+(S-P))five-degree-of-freedom bionic joint joint mechanism The position is positive and negative.The numerical calculation was performed on the inverse solution of the position of the hybrid mechanism.Based on the kinematics analysis of the new hybrid bionic shoulder joint mechanism,the formulas of linear velocity,angular velocity and angular acceleration at the center of the middle moving platform and the center of the moving platform at the end are deduced;and the Adams simulation model is established to give the attitude angle function Under the conditions of the simulation,the five-displacement curve of the(2PUS+U)-(3RRR+(S-P))five-degree-of-freedom bionic shoulder joint mechanism is measured,and the centerline linear velocity of the middle and end two motion platforms is measured.Angular velocity and angular acceleration curve;The comparison of the curve obtained from the simulation with the curve calculated using MATLAB theory,the correctness of the inverse solution of the(2PUS+U)-(3RRR+(S-P))five-degree-of-freedom shoulder joint mechanism and the calculation of the velocity and acceleration was proved.According to the data measured by previous human body movement experiments,the exercise space of the human scapular zone and the sacrum was obtained.Based on the Jacobian matrix,the singularity of the five-degree-of-freedom bionic shoulder joint mechanism is analyzed,and the singularity of the 3RRR+(S-P)parallel mechanism is mapped to the(2PUS+U)-(3RRR+(S-P))five-degree-of-freedom shoulder joint.The organization's singular space;according to the constraint conditions and position reversal,determine the working space of the 2PUS+U parallel mechanism and the(2PUS+U)-(3RRR+(S-P))five degrees of freedom hybrid bionic shoulder joint.Based on the consistent bionic design of the human shoulder joint movement space and the bionic shoulder joint mechanism working space,the posture parameters of the bionic shoulder joint mechanism are determined.At the same time,it is proved that the working space of the bionic mechanism satisfies the motion space and scope of the human shoulder joint.Based on the Lagrangian equation method,the dynamics of the bionic shoulder joint were analyzed.The Lagrangian function of the system was deduced,and the generalized coordinates and the generalized force were set.Then the systematic Lagrange dynamics equation was established and obtained.The expression of the dynamic inverse solution of the novel hybrid bionic shoulder joint mechanism is based on the trajectory of the moving platform in the simulation in Chapter 3,and the driving force of the two moving pairs and the driving torque of the three rotating pairs are analyzed.The software is compared with the theoretical calculations and Adams software to verify the correctness of the dynamical theoretical analysis of the bionic shoulder joint mechanism.