全柔性机器人机构的结构构型研究

详细信息

FULLY COMPLIANT ROBOTIC MECHANISMS AND THEIR CONFIGURATIONS

Robotics Research Institute, Beijing Univ. of Aeronautics and Astrnautics, Beijing 100083, China

摘要: 本文对全柔性机器人机构的结构构型问题进行了系统的讨论：首先从应用层面上对全柔性机器人机构进行了分类，着重讨论了并联机构与全柔性机器人机构之间存在的有机联系．通过对并联机构的结构及柔性铰链的几何模型进行系统的总结，为全柔性机器人机构"型"的选择与构筑提供了丰富的素材．此外，还重点讨论了对全柔性机器人机构的性能产生较为显著影响的结构布局问题．
- 全柔性机构 /
- 柔性铰链 /
- 结构构型 /
- 并联机构 /
- 机器人
Abstract: This paper aims at a class of novel mechanisms, i.e. fully compliant robotic mechanisms and their structural configurations. Firstly, these mechanisms are classified according to their different applications, and the relationship between this mechanism and the parallel architecture is also discussed. Through the summarizations for the configurations of current parallel architectures and geometrical models of all kinds of flexure hinges, a large amount of material which is used in the choice and construction of fully compliant robotic mechanism can be obtained. At the sometime, the structural distribution about fully compliant robotic mechanisms is paid more attention since it may heavily influence the characteristics of the mechanism.
- fully compliant mechanism /
- flexure hinge /
- configuration /
- parallel mechanism /
- robot

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