一种七自由度机械臂的研制

The design of a seven-degree redundant manipulator

冗余度机器人相比较非冗余度机器人具有消除不可避免的奇异位形、躲避任务空间障碍、克服关节运动极限等优点。介绍设计了一种新型的七自由度机械臂,其结构设计是在6R机械臂的基础上增加一个自由度,是一种典型的冗余度机械臂。阐述了该机械臂的结构设计标准,并在此基础上构建各连杆坐标系,计算了主要部件的转动惯量并据此选择了电机和谐波减速器,最后在有限元分析软件ANSYS中对关键部件进行了有限元分析。仿真结果表明,所设计的部件性能达到设计要求。

Containing more degrees of freedom than the task space needed,it is easy for the redundant manipulator to avoid obstacles and overcome singularity and has more flexible movement and bigger workspace.It introduces a new type of seven-degree of redundant robot manipulator,which is a kind of typical redundant manipulator;its structural design is based on the 6R manipulator on which we add a degree of freedom.Then describe the structural design standards,and on this basis to build on the link parameters.The rotational inertia of the main components are calculated,the motor and reducer are selected according to the rotational inertia.Finally the key components are analyzed by the software ANSYS.The simulation results show that the stiffness of the designed components meet the design requirements.