摘要
在总结了机器人各种关节的基础上 ,提出了一种新型的三自由度垂直相交运动解耦液压伺服关节的设计方案 ,阐述了其工作原理 ,并对其进行了优化设计 ,给出了该关节的优化设计参数 ,根据优化的参数设计了该关节 (以 X轴运动为例 )的具体结构 ,最后总结了该关节的特点。
In this paper ,all kinds of robot joints are summarized .On the basis of these results,a design method for a novel hydraulic joint of three degree of freedom (3-d.o.f.) is put forward and its principle is described .The structure parameters of the hydraulic servo joint are optimized by optimal design method .According to the optimal outcomes,an actual structure is designed (e.g. X axis) .Eventually ,characteristics of the joint are summarized.
出处
《中国机械工程》
EI
CAS
CSCD
北大核心
2002年第21期1824-1826,共3页
China Mechanical Engineering
基金
国家计委 2 11工程资助项目 ( 2 10 2 0 0 2 0 0 1)
