【摘要】 搭载在轮椅上的机械臂可以辅助身体不自由的人完成一定的日常操作,提高他们行动的自由度,帮助他们生活上自立。提出一种串行的带-绳驱动式机械臂的结构,该结构将驱动电机安装在机械臂外,通过同步带、绳索将动力传到各个关节,从而可以大大减轻机械臂的重量,提高机械臂的负载能力,减少不必要的能量损失。考虑绳索传动的单向性和串行机械臂绳索驱动中容易造成运动耦合等问题,绳传动部分采用套索式的绳驱动方式。同步带与绳索通过连接机构平滑过渡,消除绳驱动过程中的扭转对同步带平稳性的影响。提出的机械臂结构既具有绳驱动的优点,又具有带传动的可靠性,可以应用于轻型医疗用机械臂上。更多还原

【Abstract】 The manipulator mounted on wheelchair can assist disabled people to complete daily operations,expand their freedom of motion,and help them to be independent in life. The mechanical structure of serial belt-cable-driven manipulator is proposed,in which the motor is mounted outside of manipulator,and the power is transmitted to each joint by synchronous belt and cable. As a result,the weight of manipulator is dramatically reduced,load capacity is improved,and unnecessary energy loss is reduced. Considering the unidirectionality of cable-driven and cable-driven serial manipulator are likely to cause motion coupling,the cable with tube is adopted in the cable-driven mode. Synchronous belt and cable are smoothly connected by bindiny mechanism,eliminating the side-effect of belt twist to transmission stationarity. The manipulator not only has the feature of cable-driven,but also has the reliability of belt drive,and it can be used as light medical manipulator.更多还原