北京航空航天大学学报 ›› 1998, Vol. 24 ›› Issue (3): 354-357.

• 论文 • 上一篇    下一篇

BUAA-RR七自由度机器人机械结构设计

钱锡康   

  1. 北京航空航天大学 机电工程系
  • 收稿日期:1998-01-14 出版日期:1998-03-31 发布日期:2010-09-29
  • 作者简介:男 52岁 工程师 100083 北京
  • 基金资助:

    高等学校博士生点基金和863高技术计划资助项目

Structure Design for 7-DOF BUAA-RR Manipulator

Qian Xikang   

  1. Beijing University of Aeronautics and Astronautics,Dept. of Mechanical and Electrical Engineering
  • Received:1998-01-14 Online:1998-03-31 Published:2010-09-29

摘要: 就BUAA-RR七自由度机器人的操作机机构选型、关节结构、零部件设计等提出了一整套设计原则和方法.研制成的BUAA-RR七自由度机器人,结构紧凑、合理,运动灵活、可靠,达到了避障和避奇异位形等预定目标.

Abstract: In order to avoid obstacles in task space, overcome interior singularities and improve the performance of manipulators, redundant manipulators have been thoroughly researched and developed. In the process of designing BUAA-RR 7 degrees of freedom, a complete set of principles and methods are proposed on design of mechanical structure, joint and parts. BUAA-RR 7-DOF manipulator is characterized by self-motion and overcoming joint limitations, which has a feasible and compact structure. BUAA-RR operates dexterously and reliably, and is able to avoid obstacles and overcome singularity. Practice verifies the feasibility of above principles and methods.

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