一种关节式人机合作机器人运动学及动力学建模

Cobot（Collaborative Robot）是一种可与操作者在同一作业空间实现直接物理合作的新型机器人。根据差动轮系的小完伞约束特性，提出了基于差动轮系的关节式人机合作机器人的模型。根据差动机构与关节、差动机构与差动机构之间的耦合关系，建专了并联Cobot的运动学模型，以及由行星轮系实现的差动机构的动力学模型和关节式并联Cobot的动力学模型。这种关节式Cobot模型具有不完全约束特性，可以实现人与机器人在同一作业空间合作，而不会伤害操作者。这种Cobot模型可推广应用于多关节Cobot，主要应用在大规模零件的装配生产线、外科手术以及一些需要人机合作的场合。

Kinematics and Dynamics Modeling of a Articulated Cobot

Cobot is a novel robot that can collaborate with a human operator in a shared workspace. In the paper an articulated Cobot architecture based on differential gear was put forward by nonholonomic constraint feature of differential gear. The kinematical model of Cobot was built up in terms of different coupling modes between differential mechanisms and joints, and then dynamic models of differential mechanism implemented by planetary gear and the articulated Cobot in parallel was established. This articulated Cobot architecture possesses nonholonnmic constraint feature, and it can physically collaborate with human in a shared space, and not make him injured. The Cobot architecture can be, extended to multiple joints Cobot, which can be mainly applied in assembly production lines of large-scale parts, surgery operations and some situations that require a human operator collaborating with robot.