一种新型七自由度数据臂结构分析与设计  

Analysis and design on a kind of new typed structure of 7 DOF data arm

作　　者：赵灿[1] 林华[2] 孟偲[3] 

机构地区：[1]黑龙江科技学院机械工程学院,黑龙江哈尔滨150027 [2]辽宁工程技术大学机械工程学院,辽宁阜新123000 [3]北京航空航天大学机器人研究所,北京100083

出　　处：《机械设计》2005年第9期33-35,42,共4页Journal of Machine Design

基　　金：国家自然科学基金资助项目(60205005)

摘　　要：介绍了一种新型(BUAA-III型)七自由度数据臂的设计原理和组成,进行了数据臂的空间结构虚拟设计和数据臂测量机构的自由度分析。该数据臂既可以检测人手臂各关节变化,同时又可以获得手臂各关节角度和腕部的位置变化,并具有部分关节力反馈功能,已成功应用在网络遥操作主从臂控制仿真平台上。The designing principle and constitution of a new typed data arm with 7 DOF （model BUAA-Ⅲ） were introduced. The virtual design on spatial structure of data arm and the analysis on degree of freedom of measuring mechanism of data arm had been carried out. This data arm can not only detect the variation of each joint of human arm but at the same time also obtain the angles between every joints of arm and the variation of wrist positions. It possesses functions of force feedback of partial joints, and has already been successfully applied to the simulative control platform of remote operated masterslave data arm in network.

关 键 词：数据臂 关节检测 自由度分析 力反馈 

分 类 号：TH112[机械工程—机械设计及理论]