一种基于四关节式结构的机械臂传动结构解决方法

Solution Method for Transmission Structure of Mechanical Arm Based on Four Joints Structure

选择基于四关节五自由度的整体机械臂结构,设计一种基于仿人手臂结构及转动结构基础上增加平动传动结构的组合模型。组合中使用传动结构与动力源相结合,无极电机作为动力源,通过减速箱节制速度,并稳定增大扭矩。从材料力学层面计算论证45号钢传动轴在配合使用中的可靠性,阐述设计中各部件配合减速箱形成传动结构,完成传动工作流程回路。重点论证设计冗余缩小计算及进行大臂传动轴的危险断面强度检核。仿真数据在控制范围内,实际模型定制工作效果是稳定实现等比例设计中机械臂对重物的抓取与释放。

The combination model which is increased translational transmission structure based on rotation structure of the humanoid ann has been designed based on the overall structure of mechanical arm with four joints and five de- grees of freedom. In the combination model, the transmission structure is combined with the power source, and the stepless motor is as power source, which adopts reduction gearbox to control the speed and increase the torque stably. The reliability of the transmission shaft with 45# steel in the cooperative use has been calculated and demonstrated from the aspect of the material mechanics, and it is described that each part matches the gearbox to form the transmission structure, and complete the transmission work flow circuit. The calculation of design redundancy reduction and the de- tection of the dangerous section strength of the large ann transmission shaft have been demonstrated emphatically. The simulation data is in the control range, the actual model customization effect is to stably realize the grab and release of the weight by the equal proportion of designed mechanical arm.