几种新型机器人手腕机构剖析

本文介绍了五种最新研制的机器手腕机构,它们从一个侧面反映了当前机器人机构型综合的研究水平。文中简要分析了这五种机构的结构特点及传动原理,并指出:它们除可以用作机器人的腕关节机构之外,还可用作主/从式遥控机器人中主机与从机之间的联接关节、类人型机器人的肩关节以及步行机器人腿机构的髋关节。

Five state-of-the-art robot wrist actuators designed by Mark E.Rosheim are in- troduced in this paper,the content deals with con- structure characteristic and transmission principle of wrists.Authors point out:these three-degree- of-freedom joints are essential not only in industri- al robot wrist,but also in legs for walking rabots. Master/slave teleoperator systems need improved anthropomorphic joints for higher dexterity and sim- pler interfacing between operator and robot slave. Prosthetics,too would benefit from improved three -axis actuator.