| With the development and progress of science and technology,the bionic design of the human waist joint mechanism has developed from the initial single-degree-of-freedom rotation waist joint to today’s multi-degree-of-freedom series waist joint,parallel waist joint,and series-parallel hybrid waist joint.improvement.But up to now,there is still a big gap between the existing research results of bionic waist joints and real human waist joints,such as rigid-flexible coupling,passive compliance,and movement flexibility.This article will combine the real physiological characteristics of the human waist joint to establish a highly bionic rigid-flexible coupling bionic human waist joint mechanism,and systematically aim at the configuration,kinematics,working space and dynamics of the bionic waist joint.The research provided a brand new idea for the bionic design and development of the waist joint of the humanoid robot.Based on the analysis of the physiological characteristics of the human lumbar spine,ligament organization and movement patterns,the concept of a bionic waist joint unit skeleton model is proposed,and the unit skeleton mechanism is divided into two types according to the position of the waist joint unit skeleton mechanism.The theoretical constraint synthesis method is used to synthesize the skeleton mechanism of the bionic waist joint unit,and obtain a series of skeleton mechanism configurations of the bionic waist joint unit.By imitating the layout of the human waist joint muscles,a rigid-flexible coupling bionic waist joint unit mechanism model is proposed,and 7 types of rigid-flexible coupling bionic waist joint unit mechanisms with different muscle layouts are obtained through enumeration;three are selected the muscle-driven U/3-RRR and UU/3-RSR rigid-flexible coupling bionic waist joint unit mechanism are used as the analysis object.The kinematics of the rigid-flexible coupling bionic waist joint unit mechanism is analyzed using analytical methods.It can be seen that the UU/3-RSR mechanism has the characteristics of rotation and superposition and the accompanying movement around its own moving platform.Based on the posture continuous change method,the working space of the two rigid-flexible coupling bionic waist joint unit mechanisms is solved,and the limit working space and the real working space of the mechanism are obtained;based on the derivation method,the rigid-flexible coupling bionic waist joint is completed The speed and acceleration analysis of the unit mechanism uses ADAMS and MATLAB software to perform simulation analysis and theoretical calculation analysis on the speed and acceleration of the mechanism respectively.The comparison between the two verifies the correctness of the theoretical research.Based on the same rigid-flexible coupling bionic waist joint unit mechanism,a multi-section series-parallel rigid-flexible coupling bionic waist joint system was constructed;the kinematics of the rigid-flexible coupling bionic waist joint system was solved based on the geometric method,and ADAMS was used to simulate.The software simulates the motion simulation of the bionic waist joint system.Finally,based on the Lagrangian equation method,the dynamic model of the UU/3-RSR rigid-flexible coupling bionic waist joint unit mechanism is established.The mechanism is simulated and analyzed by ADAMS and MATLAB respectively,and the mechanism is analyzed by comparison and analysis,Verifying the correctness of the establishment of the mechanism dynamics model. |
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