机器人柔性手腕的球面齿轮设计研究  

The research of the design of spherical gear transmission used in flexible wrist of robots

作　　者：张昆[1] 冯立群 余昌钰 徐晓东 

机构地区：[1]清华大学精密仪器与机械学系

出　　处：《清华大学学报（自然科学版）》1994年第2期1-7,共7页Journal of Tsinghua University(Science and Technology)

基　　金：国家"七五"科技攻关项目

摘　　要：对典型的球面齿轮传动的机器人柔性手腕进行理论分析和实验研究，证明该传动存在干涉所引起的误差。为了消除误差，必须揉取适当的防干涉措施。研制了一种新型球面齿轮。它以一个齿代替了过去的多齿方案，从而消除了干涉的发生，经济效益显著。This paper reports the analysis of the theory,upon which the typical spherical gear transmission used in flexible wrist is pr luced.Research work shows it to be incorrect,based on experimental results,which have I)toved that there exist tolerances due to interferances in the original type.In order to cancel tolerances,it is absolutely necessary to take effective measures to avoid interferances.A new type of spherical gear transmission has been suggested,which consists of a single tooth instead of numerous ones,so that no interferances.toccur any more; repeated experiments have proved that the new type may be run very smoothly and the production cost is reduced.

关 键 词：球面齿轮传动 柔性手腕 机器人 

分 类 号：TP241[自动化与计算机技术—检测技术与自动化装置]