多自由度关节型机器人的结构设计

Structural Design of a Multi-Degree-of-Freedom Articulated Robot

为了提高多自由度机器人设计的灵活性和制作的便利性,基于模块化设计方法设计了一款关节型机器人。机器人具有六个自由度,其关节采用了三通式结构设计,内部使用谐波减速器加直流电动机作为传动方式。机器人关节包括关节模块A、关节模块B、关节模块C三种类型,可实现三种不同的功率输出。大臂、小臂结构通过螺栓与相邻的关节相连接,机器人的伸展臂长可以通过使用不同长度的大臂与小臂连杆来调节。模块化的设计方式可以利于机器人自由度的扩展以及快速部署,同时简化了机器人的维护难度。

In order to improve the flexibility of multi-degree-of-freedom robot design and the convenience of manufacture,an articulated robot was designed based on the modular design method.The robot had six degrees of freedom and its joints adopted a three-way structure design.Also a harmonic reducer and a DC motor were used as the transmission mode inside.The robot jointed include three type joint modules,such as joint module A,joint module B and joint module C,which could output three different powers.The big arm and forearm were connected with the adjacent joints by bolts.The length of the robot's extension arm could be adjusted by using different lengths of big arm and forearm links.The modular design was easy for the expansion of robot degrees of freedom and rapid deployment of robots,and the difficulty of robot maintenance was also simplified.