机械手发展现状与趋势

Development Status and Trend of Manipulator

机械手逐渐从传统的工业制造领域转向高精密领域并越来越贴近人们生活生产的方向。随着时代迅速发展,为了满足工作的需要,机械手在结构设计和驱动控制方面发生了巨大的变化。现有许多高校和学者对其深入研究,但当前缺乏系统性的总结。该文首先对近十年的机械手在结构和驱动方面的研究成果进行总结概括。其次对不同的结构和驱动方式的性能进行比较,列出其优缺点,并讨论其应用领域。最后,探讨目前机械手研究中的难点和存在的问题,并对未来的发展及研究方向进行展望。

The manipulator is developed gradually from the traditional industrial manufacturing to more and more high precision fields and close to the direction of people’s life and production;as the end effector of robot, its structure design and drive control has undergone great changes with the rapid development of the Times in order to meet the needs of work. Many universities and scholars have studied it in depth, but there is no systematic summary at present. In this paper, the research results of manipulator structure and drive in the past decade is summarized at first. Secondly, the performance of different structures and driving modes are compared, their advantages and disadvantages are listed, and the application fields are discussed. Finally, the difficulties and problems in the current research of manipulator are discussed, and the future development and research direction are also prospected.