摘要
设计了一种结构简单、联接方便的模块化机器人关节结构,每个模块具有统一的机械接口和电路接口,实现了接口的通用化,可以根据实际工作需求自由选择关节模块数目进行机器人的结构搭建,实现在不同工况下,满足相应的机器人所需要的自由度。用旋量理论对该模块组合的六自由度机器人进行运动学求解和工作空间分析,充分证明了模块化关节结构设计的可行性与有效性。
A modular robot designed in this paper has an advantage in simple structure and convenient configuration.Each module is equipped with universal mechanical and circuit interfaces.According to the actual work demand,the number of joint modules can be selected to configurate the robot.This robot can meet the degree of freedom required in different working conditions.The kinematic solution and workspace analysis of the six degree of freedom robot are done by the screw theory.It fully proves the feasibility and validity of the modular joint structure design.
作者
林蔚韡
姚立纲
东辉
LIN Weiwei;YAO Ligang;DONG Hui(College of Mechanical Engineering and Automation,Fuzhou University,Fuzhou 350108,China)
出处
《机械制造与自动化》
2019年第2期144-148,共5页
Machine Building & Automation
基金
国家自然科学基金项目(51605092)
福建省科技计划重大项目(2014H2004)
