高灵活度仿人臂型七自由度冗余机器人的研究

Study of Redundant Robot with 7DOF of High Dexterous and Anthropomorphic Arm

基于新型ＰＩＴＣＨ－ＲＯＬＬ－ＹＡＷ关节，研制出一种高灵活度的新型仿人臂型七自由度冗余机器人系统。文中首先介绍了该机器人的机构与系统构成，然后进一步研究了运动学与工作空间，最后介绍了该机器人的应用前景。

This peper reports a new redundant robot sytstem with 7 DOF Of high dexterous and an anthropomorphic arm developed in view of a new PITCH-ROLL-YAW joint.In the paper,the construct of mechanism of the robot is introduced, and the studies on kinematics and work space are made,and the applied prospects of the robot are analyzed.