基于外摩擦的医疗机器人关节锁紧结构实验研究

详细信息

Experimental Research on Lockup Structure of External Friction Based Medical Robot Joint

1.
School of Mechanical Engineering, University of Science and Technology Beijing, Beijing 100083, China
2.
Robotics Institute, Beihang University, Beijing 100083, China

摘要: 分析了目前机器人锁紧机构的发展现状，介绍了医疗机器人系统的工作原理．基于机器人关节摩擦力矩产生的机理，阐述了机器人关节锁紧的影响因素．通过相关的实验研究及分析，确定了影响机器人关节锁紧能力的主要因素，获得了机器人关节锁紧能力与活塞尺寸、内腔尺寸、摩擦环材料和尺寸及液压油粘度等影响因素的基本关系．
- 医疗机器人 /
- 液压 /
- 关节锁紧 /
- 摩擦材料 /
- 摩擦环 /
- 粘度
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.
- medical robot /
- hydraulic pressure-Joint lockup /
- friction material /
- friction ring /
- viscosity

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