球形关节关键技术研究进展

Research Progress on Key Technology of Spherical Joints

球形关节是一种结构简单紧凑、响应快、精确度高的单一球转子多自由度电机,在航天航空、先进医疗设备、智能机器人等众多领域有着广阔的应用前景。针对球形关节的部分关键技术进行了分析总结,首先对当前一些主流球形关节的驱动原理和结构进行了分类整理,介绍了各类球形关节的驱动方法和技术特征;其次针对位姿检测研究主要技术路线进行了总结归纳。最后,基于上述讨论分析了球形关节研究的关键技术发展趋势,为后续球形关节研究提供了参考。

Spherical joint is a kind of simple and compact structure,fast response,high precision single ball rotor multi-degree-of-freedom motor,which has a broad application prospect in aerospace and aviation,advanced medical equipment,intelligent robots and many other fields.Some key technologies of spherical joints were analyzed and summarized,firstly,the driving principles and structures of some mainstream spherical joints were classified,and the driving methods and technical characteristics of various spherical joints were introduced;secondly,the main technical routes of the research on position detection were summarized.Finally,based on the above discussion,the key technology development trend of spherical joint research was analyzed,which provided a reference for the subsequent spherical joint research.