摘要
采用球面三自由度并联机构作为拟人机械臂的肩关节,在使全域角速度精度传递性能评价指标较好以及满足组装条件的情况下,选取合理的设计参数,最终确定了一种肩关节的完整设计方案,为拟人机械臂的整体研究奠定了基础。
A kind of spherical 3-DOF parallel manipulator is adopted as the anthropopathic mechanical arms＇ shoulder joint and the design thought is also given in this paper. Moreover, reasonable design parameters are chosen when they make the global angle velocity precision transfer performance better and satisfy the assembly conditions. Finally, an integrated design scheme of a should joint is confirmed, which is a better base for the whole study of the anthropopathic mechanical arms.
出处
《燕山大学学报》
CAS
2006年第1期14-17,共4页
Journal of Yanshan University
关键词
球面3-DOF并联机构
肩关节
全域性能
spherical 3-DOF parallel manipulator
shoulder joint
global performance
