机器人手臂的设计英文文献和中文翻译(3)

Basically there are two points like C1 and C2 provided by the intersection of the circles represents two possible positions of the elbow. The unit vectors of the frame (x4, y4 and z4) attached to the


Basically there are two points like C1 and C2 provided by the intersection of the circles represents two possible positions of the elbow. The unit vectors of the frame (x4, y4 and z4) attached to the elbow position must be established.

Fig. 6 Plane Z = Ze and ellipsoid

The vector z4 lies along the forearm and points to the wrist. The vector y4 is perpendicular to the upper arm (ru) and fore arm (rf). The vector x4 completes the right handed coordinate.

The redundancy of the arm:

The redundancy of the animator robots’ arm can be described by the rotation

of the center of the elbow joint about the axis. The base frame (x0, y0, z0) of the feasible position of the elbow around this axis is defined by the curve. This curve can be described from the ending point of the upper arm which can be describes an ellipsoid. The centered of the origin of the base coordinate system (x0, y0, z0) and that the starting points of the forearm derived a sphere centered on the wrist position (xw, yw, zw) which corresponds to the origin of the coordinating system (xs, ys, zs) which is as shown in the following figure.

Fig. 7 work space of the upper arm and forearm of this arm

Since this two points have to same to looking the redundancy of the curve results from the intersection of the ellipsoid and the sphere. Mathematical equation is given as follows:

Gear:

Gear is a rotating machine part which having cut teeth or cogs, which mesh with another toothed part in

order to transmit the torque. A gear can produce a mechanical advantage through a gear ratio and thus may be considered a simple machine. Geared devices can change the speed, torque and direction of a power source.

A particular gear train is made up of two or more gears. Between an input and output shaft; there will be a change in angular velocity and torque. The basic speed relationship of their is given by

Gearboxes:

A gear train is made up of 2 or more gears. In these types of robot there will be a change in the angular velocity and torque between an input and output.

摘要:人形机器人是一个新的具有挑战性的领域。 人类机器人不仅要与人类合作,而且必须具有类似于形式和结构的人类,但更重要的是,他们必须准备好关于动作,交流和智能的人类行为。 这个初学者的型号是ASR K-250。 本文考虑ASR K-250(初学者)的机制和机械结构及其实施

关键词:自由度,运动结构,椭球体,冗余度,肘距,硬件接口,关节速度

概要:

发明内容在机器人领域,初学者可以在世界上贡献许多功能性操作。这个手臂可以解决许多人的局限性。为此,他们需要得到其他人的帮助。当他们使用这种类型的机器人时,他们可以轻松地解决他们的问题,而无需其他人为其简单的操作系统提供帮助举个例子,当一个人需要将一个物件从客厅搬到卧室时,他可以使用这个机器人。它可以移动环绕也收集照片和其他信息。当使用这些类型的机器人发生地震时,人们可以将许多重物从被毁坏的区域移到安全的地方。

简介:

机器人领域的应用广泛应用于研究,实验室工作,工业工作等领域,使过程自动化并减少人为错误。本文正在描述机器人手臂机械结构的设计。该机器人手臂通常被指示为将物体从一个地方移动到另一个地方。这种应用的一种实例是在需要移动像罐或容器或其他物体的可称量物体的工业区域。自动化过程结果的优势是加快完成时间,并降低错误。本文还描述了一个带开关控制的机器人手臂的实现。力控功能的应用可以在工业/制造环境中看到。

手臂概述自由度:5有效载荷:180gm(实验)关节的速度(近似):40-60 rpm硬件接口:2针连接器底旋:180度肩底旋转:160度肘距:160度手指开放(max):10cm