| 基于水下典型操作任务的机械手爪结构设计 |
| |
| 引用本文： | 刘正士,朱光胜,王勇,葛运建.基于水下典型操作任务的机械手爪结构设计[J].组合机床与自动化加工技术,2005(8):60-61. |
| |
| 作者姓名： | 刘正士 朱光胜 王勇 葛运建 |
| |
| 作者单位： | 1. 合肥工业大学,机械与汽车工程学院,合肥,230009
2. 中科院合肥智能机械研究所,合肥,230031 |
| |
| 基金项目： | 国家自然科学基金，国家高技术研究发展计划(863计划) |
| |
| 摘 要： | 文章首先对几种典型的机器人用机械手爪进行比较,综合考虑具体的作业环境、抓取能力和设计方案的简便性、可靠性,确定选取三爪结构.接着进行结构设计,用直流伺服电机驱动,用推动螺杆、平行四杆机构和曲柄滑块机构的组合而成的机构作为运动变换单元.并且设计了导向装置.同时,进行了防水设计.最后基于机械手爪的水下典型操作任务对传感器进行了合理的布置.
|
| 关 键 词： | 机械手爪 结构设计 防水设计 传感器 |
| 文章编号： | 1001-2265(2005)08-0060-02 |
| 收稿时间： | 2005-02-28 |
| 修稿时间： | 2005年2月28日 |
Structure Design of Mechanical Hand Based on the Typical Underwater Operating Assignment |
| |
| LIU Zheng-shi,ZHU Guang-sheng,WANG Yong,GE Yun-jian.Structure Design of Mechanical Hand Based on the Typical Underwater Operating Assignment[J].Modular Machine Tool & Automatic Manufacturing Technique,2005(8):60-61. |
| |
| Authors: | LIU Zheng-shi ZHU Guang-sheng WANG Yong GE Yun-jian |
| |
| Abstract: | Firstly, this paper compares some typical kinds of mechanical hands of robot . Considering the requires of operating surroundings, ability of grasping, singularity and reliability of the designs, we choose the hand with three grippers. Secondly ,we design the hand's structure ,using line servo to give force to system ,and using impel-screw to transfer force ,and choosing combine structure with three parallel four-pole machine and brace-slippery machine , a series of oriented machine is also designed. At the same time, we do the waterproofing design .At last, sensors are disposed reasonably based on the typical underwater operating assignment. |
| |
| Keywords: | mechanical hand structure design waterproofing design sensor |
| 本文献已被 CNKI 维普 万方数据 等数据库收录！ |
|
