【摘要】 针对现有工业机器人负载自重比较低的问题,吸收当前几种单马达驱动机器人的优点,采用相邻关节轴线正交的结构,设计了一种机器人运动模块。该运动模块由两个相邻轴线正交的关节组成,每个关节的运动均由关节离合器组控制。为了研究结构的可行性,建立了蛇形机器人的仿真模型,以蛇形机器人末端直线运动轨迹为例,研究了理想情况下该机器人的运动学问题。最后,展示了所研制的XN-600-1六自由度蛇形机器人样机。更多还原

【Abstract】 This paper presented the reasons for low ratio between load and gravity of a robot.We designed a robot modular by getting some advantages from other robots with one directional driven and the uni-driven robot with flexible shaft as main shaft.There were two joints in one robot modular.Every joint was perpendicular to each other and was controlled by clutches of the joint.Subsequently,the simulation model was built to verify the mechanism.We studied kinematics of the robot by simulating the trajectory of the end-effector which aligned a line by MATLAB software.Lastly,the prototype of snake robot with 6DOFs was set out.更多还原