摘要
研究一种小型机械手,用于装配搬运等任务.以串连机器人学理论为基础,设计了4自由度机械手,分析各关节的运动方式后,设计出传动方式.最后,进行抓取实验,实验结果证明,该机械手结构简单可靠,能较好满足实际应用.
A small manipulator is researched in this paper.It can assemble or carry something.The manipulator that has four DOFs is designed based on theory of serial robot.Movement way of every joint is analyzed and transmission ways are designed.Finally,capture experiment is done.The result shows that the small manipulator has a simple and reliable structure and can meet practical application.
出处
《机械与电子》
2012年第1期64-67,共4页
Machinery & Electronics
关键词
小型机械手
结构设计
传动方式
small manipulator
structural design
transmission way
