引用本文: 谢少荣, 刘思淼, 罗均, 黄潮炯, 杨毅, 李恒宇. 一种混合驱动柔索并联仿生眼的轨迹规划[J]. 机器人, 2015, 37(4): 395-402.
XIE Shaorong, LIU Simiao, LUO Jun, HUANG Chaojiong, YANG Yi, LI Hengyu. Trajectory Planning of a Bionic Eye Using Hybrid-Driven Cable Parallel Mechanism[J]. ROBOT, 2015, 37(4): 395-402.
 Citation: XIE Shaorong, LIU Simiao, LUO Jun, HUANG Chaojiong, YANG Yi, LI Hengyu. Trajectory Planning of a Bionic Eye Using Hybrid-Driven Cable Parallel Mechanism[J]. ROBOT, 2015, 37(4): 395-402.

## Trajectory Planning of a Bionic Eye Using Hybrid-Driven Cable Parallel Mechanism

• 摘要: 在与眼球运动相关的解剖学和运动学的基础上，设计了一种符合 Listing 定理的基于混合驱动柔索并联机构的 3 自由度机器人仿生眼.通过矢量封闭方法建立了逆运动学模型，求解出柔索并联机器人的雅可比矩阵和结构矩阵.利用达朗贝尔定理建立柔索并联机器人的力矩平衡方程组，采用广义逆矩阵的相关理论，以柔索张力矢量的 2 范数最小为目标进行张力优化.用蒙特卡洛方法计算出仿生眼球可达工作空间.最后，在 Simulink 环境下进行仿真，规划运动轨迹并得到柔索并联机器人运动特性的仿真结果，证明了本文设计的机构符合 Listing 定理.结果表明：基于混合驱动柔索并联机构的机器人仿生眼结构合理，数学模型正确.

Abstract: Based on anatomy and kinematics of human's eyeball, a 3-DOF (degree of freedom) bionic eye with hybrid-driven cable parallel mechanism (CPM) is presented according to Listing's law. An inverse kinematics model is built with the vector closure method, and Jacobian matrices and structure matrices of CPMs are solved. Force moment equilibrium equations of CPMs are established based on Darren Bell's theorem. With the aim of minimizing the 2-norm of cable tension vectors, tension distribution is optimized according to generalized inverse matrix theories. The reachable work space of the bionic eye is calculated with Monte-Carlo method. Finally, the trajectories of CPMs are planned in Simulink environment, the corresponding kinematic performance results are obtained, and the designed mechanism is proven to be in accordance with Listing's law. The result shows that the bionic eye using hybrid-driven CPM is reasonable, and the derived mathematical models are correct.

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