| 一种新型七自由度数据臂结构分析与设计 |
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| 引用本文： | 赵灿,林华,孟偲.一种新型七自由度数据臂结构分析与设计[J].机械设计,2005,22(9):33-35,42. |
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| 作者姓名： | 赵灿 林华 孟偲 |
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| 作者单位： | 黑龙江科技学院,机械工程学院,黑龙江,哈尔滨,150027;辽宁工程技术大学,机械工程学院,辽宁,阜新,123000;北京航空航天大学,机器人研究所,北京,100083 |
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| 基金项目： | 国家自然科学基金资助项目（60205005） |
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| 摘 要： | 介绍了一种新型（BUAA—Ⅲ型）七自由度数据臂的设计原理和组成，进行了数据臂的空间结构虚拟设计和数据臂测量机构的自由度分析。该数据臂既可以检测人手臂各关节变化，同时又可以获得手臂各关节角度和腕部的位置变化，并具有部分关节力反馈功能，已成功应用在网络遥操作主从臂控制仿真平台上。
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| 关 键 词： | 数据臂 关节检测 自由度分析 力反馈 |
| 文章编号： | 1001-2354（2005）09-0033-03 |
| 收稿时间： | 2004-11-01 |
| 修稿时间： | 2004-11-012005-04-04 |
Analysis and design on a kind of new typed structure of 7 DOF data arm |
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| Zhao Can,LIN Hua,MENG Cai.Analysis and design on a kind of new typed structure of 7 DOF data arm[J].Journal of Machine Design,2005,22(9):33-35,42. |
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| Authors: | Zhao Can LIN Hua MENG Cai |
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| Abstract: | The designing principle and constitution of a new typed data arm with 7 DOF(model BUAA-III) were introduced.The virtual design on spatial structure of data arm and the analysis on degree of freedom of measuring mechanism of data arm had been carried out.This data arm can not only detect the variation of each joint of human arm but at the same time also obtain the angles between every joints of arm and the variation of wrist positions.It possesses functions of force feedback of partial joints,and has already been successfully applied to the simulative control platform of remote operated master-slave data arm in network. |
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| Keywords: | data arm detection of joints analysis of degree of freedom force feedback |
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