摘要
针对机器人直行、转弯、机器臂升降、机器臂旋转、机器臂摆动、机器手抓紧与松开6个自由度,设计相应的机械传动系统,研制了一款矿用六自由度小型救援机器人。主要从机器人整体方案选择、动力源选用、底座结构设计、机械臂升降功能实现以及机器手伸抓与缩放等5个方面进行论述,最终完成整机的机械传动系统设计。设计了机器人的三维外观渲染图与样机,经测试样机各项性能参数均符合各项设计要求。
A diminutive robot for mine was developed, relative mechanic transmission system was designed aiming at six freedoms including traveling, swerve, lifting, circumgyrating, swing, grasping and loosening. The paper introduces five aspects including project choosing,power selecting,base configuration design,machine arm function realization and machine manus action, the whole mechanic transmission system was completed. Three-directional drawings and sample of robot were achieved, performance parameters of sample accords with design demands.
出处
《煤矿机械》
北大核心
2013年第10期26-28,共3页
Coal Mine Machinery
基金
市公益性技术应用项目(2012jyzb45)
关键词
自由度
机器人
机械传动系统
样机
freedom
robot
mechanic transmission system
sample
