套索驱动空心杆机器人结构设计  

Structure design to hollow-perch robot driven by tendon-sheath

作　　者：张素梅[1] 王兴松[2] 奚如如[2] 

机构地区：[1]福建农林大学材料工程学院,福建福州350002 [2]东南大学机械工程学院,江苏南京211189

出　　处：《机械设计》2012年第6期48-51,57,共5页Journal of Machine Design

基　　金：国家自然科学基金资助项目(50875044)

摘　　要：介绍了套索传动特性,确定了套索驱动空心杆机器人传动系统。根据不同使用场合和不同需要确定了两套结构方案,并用SolidWorks三维绘图软件分别进行结构设计建模。该机器人连续细长、结构简单轻便,可用于灾后废墟中的搜救、大型结构和设备检测检修等需要在狭小空间内作业的场合。The transmission characteristics of Tendon-Sheath were introduced in this paper. The driving system of Tendon- Sheath-Driven hollow-perch Robot was defined. Two sets of driving schemes used in different situation were designed. Three-dimen- sional plot software SolidWorks was respectively used to carry out structure design and modehng. The robot is continuous slender and its structure is light and simple, and can be used in a narrow spaces such as rescue operations in the disaster, maintenance and detec- tion of large structure and equipments etc.

关 键 词：套索驱动 空心杆机器人 结构设计 

分 类 号：TP24[自动化与计算机技术—检测技术与自动化装置]