基于闭链结构的五自由度关节型电驱动机械手研制  

Development of 5-DOF Joint Type Electric Manipulator based on Closed Chain Structure

作　　者：张铁异[1] 

机构地区：[1]广西大学机械工程学院,广西南宁530004

出　　处：《机械传动》2014年第5期148-151,共4页Journal of Mechanical Transmission

基　　金：广西科技攻关项目(桂科攻1355008-10);广西制造系统与先进制造技术重点实验室项目(12-071-11S06);广西教育厅科学技术研究项目(2013LX005)

摘　　要：在分析现有开链形式串联结构机械手本体结构的基础上,设计研制出一种新型的闭链结构五自由度关节型电驱动机械手,对机械手进行了总体设计、结构设计、控制系统设计及ADAMS运动仿真分析,该机械手具有刚性好、精度高、模块化及低成本的特点,可应用于工业生产中的拆装、焊接、搬运等作业及应用于高校实验教学与研究。Based on the analyzing of opened--chain series structure type of the manipulator, a new type of multi--joint electric driven closed--chain structure 5--DOF manipulator is designed and developed, the overall design, structure design, control system design and kinematics simulation analysis by ADAMS are carried out. The manipulator has the advantages of good rigidity, high preci- sion, high degree of modularity, easy to manufacture and low cost. It can be applied to industrial production of disassembly, welding, transport and other operations, and can be also applied to the university experiments teaching and research work.

关 键 词：机械手 闭链结构 五自由度 关节型 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置] TP241[自动化与计算机技术—控制科学与工程]