摘要
提出一种被动柔顺ＲＣＣ装置用的圆柱形层叠弹性杆的结构形式，并针对橡胶弹性材料的静弹性特性，对弹性杆作了受力与变形分析、刚度矩阵计算和性能实验，为ＲＣＣ装置的设计提供了理论依据．
his paper describes the structural form of a laminated circular elastomer used in an RCC device. The analysis of the force and deformation of the elastomer, calculations of stiffness matrix and experiments with the elastomer were all conducted on the basis of the static elasticity of rubber materials. The results provide a theoretical basis for the designing of RCC wrists.
出处
《天津大学学报》
EI
CAS
CSCD
1994年第4期385-390,共6页
Journal of Tianjin University(Science and Technology)
基金
国家教委博士点基金
863计划资助
关键词
层叠弹性杆
刚度
RCC手腕
机器人
laminated elastomer, rubber layer, force, deformation, stiffness
