中文摘要：

根据合作机器人（Cobot）的特点和超越离合器的特性，提出基于双单向超越离合器的助力型关节机构，利用拉格朗日功能平衡法建立单向超越离合器的数学模型，推导关节机构的动力学模型，对欠驱动力关节机构的动力学特性进行仿真分析，提出基于操作力的轨迹控制策略，并利用微分几何原理建立Cobot虚拟轨迹控制模型。基于dSPACE半物理仿真平台对欠驱动力Cobot的轨迹控制进行试验。研究结果表明，欠驱动力Cobot样机可以跟踪期望轨迹，其助力型关节机构可以克服摩擦阻力，使操作轻便省力，满足欠驱动力Cobot的设计要求。

英文摘要：

In terms of the features of Cobots and characteristics of over-running clutch a kind of power-aided joint mechanism is put forward based on two unilateral over-running clutches. The mathematic models of over-running clutch and dynamics model of joint mechanism are built up by applying Lagrange method of work energy equilibrium. The simulation analysis is carried out for the dynamic characteristic of insufficient power joint mechanism. Trajectory control strategy based on operation force is put forward, and virtual trajectory control model of Cobot is built up by using differential geometry principle. The experimental study of trajectory control of insufficient power Cobot is completed based on dSPACE hardware in loop simulation platform. The research results illustrate that the Cobot prototype can track a desired path, the joint mechanism of which can get over friction resistance, and it makes operation convenient and labor saving. It can meet the design requirements of insufficient power Cobot.