摘要
建立了机械手的三维模型,对机械手的工作原理和静力学特性进行研究,分析了运动部件之间的相对关系;机械手采用液压驱动方式,驱动力大、结构简单;机械手有三个手指,采用4个驱动元件实现对机械手11个自由度的驱动,三个手指之间的相对位置可根据抓取目标物的形状而改变,抓取物体时具有形状自适应能力.
The 3D models of the manipulator are built, and its principle and static characteristic are researched. The relationship among movement parts is analyzed. The manipulator is driven by the hydraulic pressure, which has strong driving power and simple structure. The manipulator has 3 fingers with 11 DOF driven by 4 driving components, and the position of the fingers is changed with the shape of the object and can fit the object automatically.
出处
《船舶工程》
CSCD
北大核心
2008年第2期45-47,66,共4页
Ship Engineering
关键词
机器人技术
水下作业
机械手
柔顺抓取
静力学特性
robot technology
underwater working
manipulator
complaisant grasping
static characteristic
