线缆搬运机器人手臂的机械系统设计

The mechanical system design of robot manipulator for carrying coiled electric cable

针对传统人工搬运码垛存在的劳动强度大、工作效率低等问题,设计了一种用于成卷线缆搬运的六自由度机器人手臂。结合工作任务的要求以及运动空间,确定了机器人手臂的运动形式和关节配置,详细设计了机械臂主要关节的结构,并对关键结构件进行了工作能力校核。

In the view of high labor intensity and low working efficiency in manual removing and stacking manipulation, it introduces a six-degree-of-freedom robot manipulator for carrying coiled electric cables. Combining with the working characteristics and the workspace limitation, it designs the manipulator movement form and joint configuration, shows the detail about the joint structure schemes of the manipulator, and verifies the work ability of the key elements.