新型超冗余度机器人关节设计  

Design of a new type of joint for the hyper-redundant robot

作　　者：陈礼顺[1] 李立[1] 张红亮[1] 

机构地区：[1]西南交通大学机械工程学院,成都610031

出　　处：《机械设计与制造》2010年第6期148-150,共3页Machinery Design & Manufacture

基　　金：四川省应用基础研究项目(2008JY0063)

摘　　要：提出一种应用于超冗余度机器人的新型二自由度关节设计方案。新型关节巧妙地将齿轮传动引入到十字轴万向关节中,克服了传统万向关节传动的缺陷,具有结构解耦、驱动力矩大、运动平稳等优点。优化设计结果表明:新型关节能有效驱动5个关节模块组成的10自由度的超冗余度机器人,具有良好应用前景。A new type of joint design for the hyper-redundant robot is presented.The gear transmission was introduced to elaborately combine with the universal joint in this new joint.The new joint overcomes shortcomings of univesal joint transimission.It has the charateristics of structural decouping with advantages of large driver torque and smoothly moving.The optimazition design result shows that this new type of joint can drive a10-DOF hyper-redundancy robot composed of five joint modules.Therfore,it has a bright prospect in engineering applictions.

关 键 词：超冗余度机器人 万向关节 遗传算法 优化设计 

分 类 号：TH16[机械工程—机械制造及自动化] TP24[自动化与计算机技术—检测技术与自动化装置]