改进型PYR全方位关节及在柔性臂中的应用  

Application for flexible arm of an improved PYR-type omni-directional joints and its

作　　者：梁风[1] 吴伟国[1] 王瑜[1] 蔡鹤皋[2] 

机构地区：[1]哈尔滨工业大学机械设计系,哈尔滨150001 [2]哈尔滨工业大学机器人研究所,哈尔滨150001

出　　处：《机械设计与制造》2006年第6期106-108,共3页Machinery Design & Manufacture

摘　　要：深入剖析了PYR型关节机构,在总结以往研究基础上集中解决该类手腕、关节机构的进一步小型化以及存在的刚度问题,研制出了新型PYR关节及手腕机构;基于模块化、组合式设计思想,研制了七自由度仿人手臂。本研究的意义还在于,基于这种小型化、模块化的PYR关节,很容易设计、研制多自由度柔性手腕、机器人柔性臂,从而为汽车、空间领域提供高灵活性的机器人新机构。Roundly analysis the PYR - type joints mechanical in this paper. Based on the experience of the past researches for this joint, we have mainly resolved the problems about the joint＇ s miniaturization and rigidity, and deveioped an improved PYR - type joints and the wrist mechanical ; Base on the ideas of design for modularization and combination, deveioped a7 - D. 0. F anthropopathic arm. Base on the joint with persons of miniaturization and moduiarization, multi - D. O. F flexible wrist and flexible arm will be going to designed and developed very easy. So, it is can provide new robot＇ s mechanical with high dexterity for area such as auto car and space technology.

关 键 词：全方位关节 柔性腕 柔性臂 仿人臂 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]