摘要
就ＢＵＡＡＲＲ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．
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.
出处
《北京航空航天大学学报》
EI
CAS
CSCD
北大核心
1998年第3期354-357,共4页
Journal of Beijing University of Aeronautics and Astronautics
基金
高等学校博士生点基金
863高技术计划资助项目
关键词
机器人
自由度
结构设计
冗余
操作机机构
robots
degree of freedom
structural design
redundancy
singularity
