Structure Design for 7-DOF BUAA-RR Manipulator

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.