机械手关节减速器的合理选择  

The Rational Selecting of Joint Reducer of Manipulator

作　　者：刘梅[1] 

机构地区：[1]青岛大学,山东青岛266061

出　　处：《机床与液压》2007年第4期56-58,共3页Machine Tool & Hydraulics

基　　金：863计划课题资助(项目编号:2002AA420110;2005AA420060)

摘　　要：为使机械手的设计达到重量轻、体积小而承载能力大,传动平稳等要求,需合理选择具有大扭矩、大传动比、合适刚度的关节减速器。本文以带电作业机械手的设计为例,从关节固有频率和结构复杂性及加工难易程度等方面讨论了关节减速器的合理选择问题。In order to get greater carrying capacity with lighter weight, and smooth driving with little motion loss, the joint reducer with greater torque, appropriate rigidity, greater speed ratio, appropriate velocity of locomotion, favorable performance at dynamic and static state should be selected. The problem that how to select the joint reducer rationally from several aspect in the design of hot line manipulator with different mode was discussed, such as the complexity of the joint, the natural-frequency, the hardness in processing, etc.

关 键 词：机器人 关节减速器 固有频率 装配尺寸链 

分 类 号：TH133[机械工程—机械制造及自动化]