Experimental Research on Lockup Structure of External Friction Based Medical Robot Joint
WANG Hong-jian1, CAO Tong1, LIU Da2, TANG Can2
1. School of Mechanical Engineering, University of Science and Technology Beijing, Beijing 100083, China; 2. Robotics Institute, Beihang University, Beijing 100083, China
王洪建, 曹彤, 刘达, 唐粲. 基于外摩擦的医疗机器人关节锁紧结构实验研究[J]. 机器人, 2009, 31(3): 193-196..
WANG Hong-jian, CAO Tong, LIU Da, TANG Can. Experimental Research on Lockup Structure of External Friction Based Medical Robot Joint. ROBOT, 2009, 31(3): 193-196..
Abstract：The state of the art of lockup mechanism is analyzed,and the principle of medical robot is introduced.Based on the friction moment principle of robot joints,the influencing factors of robot joint lockup are described.Main factors influencing the joint lockup performance are determined by experiments and analysis,and the basic relationship between the lockup performance of robot joints and the influencing factors,including piston diameter,cavity diameter,material of friction ring, friction ring average diameter and viscosity of hydraulic oil,is obtained.
