摘要
本文设计了一种用于教学的4自由度关节型上下料机械手。该机械手主要由旋转底座、大臂、小臂和末端执行器等组成,采用步进电机驱动机械手的运动。大、小臂采用平面连杆机构串联而成,可实现腕部关节的平动。末端执行器采用齿轮回转型夹持器,工作可靠,结构简单。
A kind of 4 degrees of freedom （4-DOF） feeding joint manipulator used in teaching is designed. This manipulator is mainly composed of the rotating base, big arm, small arm and end effector, and the movements of the manipulator is driven by stepping motor. The big arm and small arm series adopt the planar linkage mechanism, which can realize the wrist joint translation. The end effector adopts gear back transformation, which is characterized by reliable operation and simple structure.
出处
《科技广场》
2017年第8期69-72,共4页
Science Mosaic
基金
2015年度东华理工大学实验技术开发项目
