摘要
通过对机械手实际工作环境的了解,对该机械手进行了总体方案设计,确定了该机械手为圆柱坐标型四自由度通用机械手,故同时设计了机械手的夹持式手部结构和吸附式手部结构,可以更换使用。该机械手既可以用于搬运小型零件,也可供教学、实验使用,使用范围广。本文计算出了手部夹紧气缸所需的驱动力,设计了机械手的手部结构、腕部结构、臂部结构。
Based on investigating the actual work environment of manipulator, this paper makes an overall scheme design of the manip-ulator, determining that it is the cylindrical coordinate-typed general manipulator with 4 DOF, and at the same time, it designs the hand frame of manipulator with holding device and with adsorption device, both of them can be used alternately. The manipulator can be used either for carrying small parts, or in teaching and experiment, showing the wide usage scope. This paper calculates the driving force needed for hand clamping cylinder, designs the hand structure, wrist structure and arm structure of the manipulator.
出处
《长春大学学报》
2012年第10期1171-1173,1180,共4页
Journal of Changchun University
关键词
机械手
圆柱坐标
四自由度
气缸
manipulator
cylindrical coordinate
four degrees of freedom
cylinder
