微小型救援机器人机械手设计

Structure design of a miniature rescue robot manipulator

根据复杂工作环境下微小型救援机器人的工作特点,设计了一种机器人机械手。依据机械手的关节空间和工作范围设计了机械手的结构,分析了机械手的受力情况,通过简化模型计算驱动力,选择合适的传动方式和壳体及齿轮材料,进行了三维实体建模,为机械手的仿真分析提供了必要的样机模型。实际应用证明,设计的机械手满足设计要求,能够实现预期目标。

To meet the requirements of the miniature rescue robot under the complicated operation environment,a manipulator for the robot is designed.Based on the its joint space and scope of work, the structure is worked out.We analyze the force the manipulator received and calculated the output power.The suitable driving mode and the materials of shell and gear are chosen.The 3Dmodel of the manipulator is established to simulate the real operation,and the results show that the design can meet the needs.