多自由度机器人机械手臂结构设计方法研究

Research on Structural Design Method of Multi-DOF Robot Manipulator Arm

国内对多自由度机械手臂研究起步较晚,生产的传统机械手臂不能完成精细复杂操作。针对上述问题,提出一种具有多自由度的机器人机械手臂结构,并对其操作结构、驱动结构以及控制结构的设计方法加以阐述。测试结果表明,多自由度机器手臂性能接近于同等类型德国制造的机械手臂,证明了设计方法具有一定实用性。

Domestic research on multi-degree-of-freedom robotic arms started late, and the traditional robotic arm produced cannot complete delicate and complicated operations. Aiming at the above problems, a robotic arm structure with multiple degrees of freedom is proposed, and its operating structure, driving structure and design method of control structure are expounded. The test results show that the multi-degree-of-freedom robotic arm performance is close to that of the same type of Germanmade robotic arm, which proves that the design method has certain practicability.