钢丝绳传动四自由度机械臂的机构设计  

Mechanical Design of 4 Degrees of Freedom Wire Driving Robot Arm

作　　者：陶俊[1] 袁建军[1] 张伟军[1] 万志成[1] 

机构地区：[1]上海交通大学机械与动力工程学院,上海200240

出　　处：《机械与电子》2008年第1期31-34,共4页Machinery & Electronics

基　　金：上海市浦江人才计划资助项目(07pj14056)

摘　　要：提出一种用于物流系统的四自由度机械臂解决方案,并对该机械臂的工作原理和具体设计进行了详细讨论。该机械臂主要由一种简洁高效的钢丝绳传动机构构成,它将驱动装置安装到远离相关关节的基座上,使得整个机械臂的结构紧凑、整洁,在减轻机械臂整体重量的同时提高了对外做功的能力。此外,还设计了一种简单并易于操作的张紧力调节装置,可以确保钢丝绳处于充分的张紧状态,从而克服了钢丝绳传动精度不高的问题。This paper presented a solution of 4 degrees of freedom robot arm which is used in materials handling system,and detailedly discussed about the working principle and design of the robot arm. The robot arm is mainly designed with a simple and efficient wire driving structure,so that all the driving components can be configured on the fixed base which is far away from the relative joints. With this design, not only the structure of robot arm becomes compact and simple, but also the entire weight is dropped. At the same time, the output power to do work is increased relatively. In addition, we also develop a novel wire tension ad- justment mechanism,which is very simple and easy to operate. It assures that the rigidity of wire can be improved to a certain extent. Therefore, the problem of the end displacement accuracy of robot arm is perfectly solved.

关 键 词：机械臂 机构设计 钢丝绳传动机构 张紧力调节装置 

分 类 号：TP241.2[自动化与计算机技术—检测技术与自动化装置]