上下料机械手柔性手腕的设计及位置误差分析  

Designing and Positioning Error Analysis for Flexible Wrist of an Industrial Robot

作　　者：曹海燕 周一届 范增良 欧阳焕 

机构地区：[1]江南大学机械工程学院,江苏无锡214122

出　　处：《江南大学学报（自然科学版）》2012年第1期56-60,共5页Joural of Jiangnan University (Natural Science Edition)　

摘　　要：为了解决上下料过程中存在的误差而造成装配的困难,提出一种用于数控磨床上下料系统的新型机械手柔性手腕,文中介绍了该手腕的总体结构方案及结构特点,分析了在机械手旋转工作过程中夹持齿轮中心的运动区域范围,为机械柔性手腕的结构设计及优化提供了依据。Usually it is difficult to assemble the workpiece when feeding and unloading because of the all kinds of errors.In order to solve this problem.In this paper,a new mechanical flexible wrist for CNC grinding machine is proposed.The structural concept and feature of the wrist are introduced.The positioning errors producing by the workpiece during the work process of the manipulator are analyzed.The results provides the basis for the structural designing and optimization of the wrist.

关 键 词：柔性手腕 结构特点 位置误差 

分 类 号：TP241.2[自动化与计算机技术—检测技术与自动化装置]