主—从式智能机器人STANFORD型主机械手研究

THE DEVELOPMENT OF STANFORD MARK MASTER MANIPULATOR

应用刚体动力学方法研究了６自由度ＳＴＡＮＦＯＲＤ型主机械手的运动特性。重点分析腕部和臂部的动力学状态。

This paper studies the moving characteristics of a master manipulator with the dynamical analysis of rigid bodies. The development of a 6 degree of freedom direct drive master manipulator of STANFORD mark is introduced. As a focal point of it, the key to the techniques of arm and hand is discussed. The balance method of arm and the structure of a new hand are explained.