【摘要】 为使机械手的设计达到重量轻、体积小而承载能力大,传动平稳等要求,需合理选择具有大扭矩、大传动比、合适刚度的关节减速器。本文以带电作业机械手的设计为例,从关节固有频率和结构复杂性及加工难易程度等方面讨论了关节减速器的合理选择问题。更多还原

【Abstract】 In order to get greater carrying capacity with lighter weight,and smooth driving with little motion loss,the joint reducer with greater torque,appropriate rigidity,greater speed ratio,appropriate velocity of locomotion,favorable performance at dynamic and static state should be selected.The problem that how to select the joint reducer rationally from several aspect in the design of hot line manipulator with different mode was discussed,such as the complexity of the joint,the natural-frequency,the hardness in processing,etc.更多还原