| 一种新型的三自由度垂直相交运动解耦液压伺服关节的设计 |
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| 引用本文： | 朱兴龙,周骥平,颜景平.一种新型的三自由度垂直相交运动解耦液压伺服关节的设计[J].中国机械工程,2002,13(21):1824-1826. |
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| 作者姓名： | 朱兴龙 周骥平 颜景平 |
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| 作者单位： | 1. 扬州大学,江苏省扬州市,225009
2. 东南大学,南京市,210096 |
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| 基金项目： | 国家计委 2 11工程资助项目 ( 2 10 2 0 0 2 0 0 1) |
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| 摘 要： | 在总结了机器人各种关节的基础上，提出了一种新型的三自由度垂直相交运动解耦液压伺服关节的设计方案，阐述了其工作原理，并对其进行了优化设计，给出了该关节的优化设计参数，根据优化的参数设计了该关节（以X轴运动为例）的具体结构，最后总结了该关节的特点。
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| 关 键 词： | 液压伺服关节 运动解耦 三自由度 优化设计 机器人 |
| 文章编号： | 1004-132X(2002)21-1824-03 |
Design for a Novel Hydraulic Servo Joint with 3-d.o.f. And Motion Decoupling |
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| ZHU Xinglong.Design for a Novel Hydraulic Servo Joint with 3-d.o.f. And Motion Decoupling[J].China Mechanical Engineering,2002,13(21):1824-1826. |
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| Authors: | ZHU Xinglong |
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| Abstract: | In this paper ,all kinds of robot joints are summarized .On the basis of these results,a design method for a novel hydraulic joint of three degree of freedom (3-d.o.f.) is put forward and its principle is described .The structure parameters of the hydraulic servo joint are optimized by optimal design method .According to the optimal outcomes,an actual structure is designed (e.g. X axis) .Eventually ,characteristics of the joint are summarized. |
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| Keywords: | optimal design hydraulic servo joint motion decoupling 3-d o f |
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