摘要
灵巧式机械手作为肢体的延伸可有效协助人类完成各类场合抓取动作。首先对机器人灵巧式机械手发展历程进行概括。总结出近10年灵巧式机械手发展成果,将灵巧式机械手按照特点和传动形式分类,并进行了性能分析。接着,对灵巧式机械手应用的关键技术进行总结概述。最后,对灵巧式机械手在新材料应用、智能协同化作业以及微动控制技术等方面的未来发展趋势进行了讨论。
As an extension of the body,the dexterous manipulator can effectively assist human beings to complete all kinds of situations.First of all,the development of robot dexterous manipulator was summarized.The development achievements of dexterous manipulators in the past ten years wers summarized,the dexterous manipulators was divided into 5 categories according to characteristics and transmission forms,and their performance characteristics for different types were analyzed.Then,the key technology of dexterous manipulator application was summarized.Finally,it was pointed out that the application of new materials,intelligent collaborative operation and micro-control technology of smart manipulators were the future development trends.
作者
孙江宏
何宇凡
高锋
王军见
SUN Jiang-hong;HE Yu-fan;GAO Feng;WANG Jun-jian(School of Mechanical Electrical Engineering, Beijing Information Science & Technology University, Beijing 100192, China;Institute of Mechatronic Engineering, Tsinghua University, Beijing 100084, China;China National Machine Tool Quality Supervision Testing Center, Beijing 100102, China)
出处
《科学技术与工程》
北大核心
2021年第26期11005-11014,共10页
Science Technology and Engineering
基金
国家重大科学仪器专项(2014YQ24044504)
2019年产业技术基础公共服务平台项目(0714EMTC000898)。
关键词
机器人
灵巧式机械手
分类
性能分析
robot
dexterous manipulator
classification
performance analysis
