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多关节式机械手具有动作灵活,占地小,作业空间大,既可用于工业,又可作医疗护理,亦可制成动力假手等特点。如何使其经济性好、结构简单、适合国情,是研究工作中的主要课题。本文据此观点进行了下述研究工作: 1.用仿生类比法建立了仿人型多关节机械手的运动系统及数学模型; 2.对其实验装置及经济、清洁的气动系统成功地进行了试验研究; 3.对几种低成本控制系统成功地进行了试验研究。
Multi-joint manipulator with flexible action, small footprint, large work space, both for industrial, but also for medical care, can also be made of dynamic hand and other characteristics. How to make it economical, simple structure, suitable for national conditions, is the main task of research. In this paper, the following research work is carried out from this point of view: 1. The bionic multi-joint manipulator’s kinematic system and mathematical model are established by the bionic analogy method. 2. The experimental device and the economical and clean pneumatic system are successfully tested Research; 3. Several low-cost control system successfully conducted a pilot study.