摘要
设计以气动人工肌肉作为驱动器的机械手关节,分析由并联机构组成的机械手关节机构的运动学特性,同时对机械手的末端执行机构进行空间位置分析。通过并联机构的运动分析,得出气动人工肌肉收缩量和并联机构平台转动角度的数学关系,并进行了实验验证。根据实验结果,分析了气动肌肉机械手关节的运动学特性。
The joints of manipulator were designed which take pneumatic muscle as a driver, manipulator joints were disposed through kinematics analysis of mechanism. The endmost mechanism of manipulator was analyzed. According to kinematics analysis of parallel mechanism, mathematical relations between internal pressure of pneumatic artificial muscle and rotational angle of platform of parallel mechanism were obtained. Based on the resuh of physical testing, kinematics of manipulator of the joint was analyzed.
出处
《机床与液压》
北大核心
2009年第7期86-88,92,共4页
Machine Tool & Hydraulics
关键词
气动机械手
并联机构
气动人工肌肉
机构运动分析
Pneumatic manipulator
Parallel mechanism
Pneumatic artificial muscle
Kinematics analysis of mechanism
