| BUAA-RR七自由度机器人机械结构设计 |
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| 引用本文： | 钱锡康.BUAA-RR七自由度机器人机械结构设计[J].北京航空航天大学学报,1998,24(3):354-357. |
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| 作者姓名： | 钱锡康 |
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| 作者单位： | 北京航空航天大学 机电工程系 |
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| 基金项目： | 高等学校博士生点基金和863高技术计划资助项目 |
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| 摘 要： | 就BUAA-RR七自由度机器人的操作机机构选型、关节结构、零部件设计等提出了一整套设计原则和方法.研制成的BUAA-RR七自由度机器人,结构紧凑、合理,运动灵活、可靠,达到了避障和避奇异位形等预定目标.
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| 关 键 词： | 机器人 自由度 结构设计 冗余 奇异 |
| 收稿时间： | 1998-01-14 |
Structure Design for 7-DOF BUAA-RR Manipulator |
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| Qian Xikang.Structure Design for 7-DOF BUAA-RR Manipulator[J].Journal of Beijing University of Aeronautics and Astronautics,1998,24(3):354-357. |
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| Authors: | Qian Xikang |
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| Institution: | Beijing University of Aeronautics and Astronautics,Dept. of Mechanical and Electrical Engineering |
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| Abstract: | In order to avoid obstacles in task space, overcome interior singularities and improve the performance of manipulators, redundant manipulators have been thoroughly researched and developed. In the process of designing BUAA RR 7 degrees of freedom, a complete set of principles and methods are proposed on design of mechanical structure, joint and parts. BUAA RR 7 DOF manipulator is characterized by self motion and overcoming joint limitations, which has a feasible and compact structure. BUAA RR operates dexterously and reliably, and is able to avoid obstacles and overcome singularity. Practice verifies the feasibility of above principles and methods. |
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| Keywords: | robots degree of freedom structural design redundancy singularity |
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