SIA OpenIR  > 水下机器人研究室
模块化水下电动机械手设计与运动学分析
Alternative TitleModular Design and Kinematic Analysis of Underwater Electrical Manipulator
刘运亮; 张奇峰
Department水下机器人研究室
Source Publication机械设计与制造
ISSN1001-3997
2012
Issue10Pages:53-55
Contribution Rank1
Keyword模块设计 手爪 水下电动机械手 运动学分析
Abstract为了满足水下作业的多样性需求并提高水下机械手的通用性,对水下电动机械手进行模块化设计,机械手模块分为具有俯仰和腕转两个自由度的基本运动驱动模块和手爪模块,手爪模块采用旋转驱动凸轮机构实现。机械手模块设计实现了控制器内置和内部走线,并且选择适用于深海作业的元器件,不同模块的快速组合可以满足不同的作业需求。利用三个基本运动驱动模块和一个手爪模块搭建了七功能电动机械手,对七功能机械手进行了运动空间分析及运动学仿真。
Other AbstractIn order to meet the need of a diverse variety of underwater operation and increase the popularity of the manipulator,modular design of underwater electric manipulator is adopted,which is divided into basic motion drive module and the end-effectors,which is driven by a cam mechanism.Controller built-in and implementation of internal alignment is achieved,and the components can work in deep-sea,and also the combination of different modules meets different tasks.Using three basic drive modules and end-effecto...
Language中文
Document Type期刊论文
Identifierhttp://ir.sia.cn/handle/173321/10293
Collection水下机器人研究室
Affiliation1.机器人学国家重点实验室中国科学院沈阳自动化研究所
2.中国科学院研究生院
Recommended Citation
GB/T 7714
刘运亮,张奇峰. 模块化水下电动机械手设计与运动学分析[J]. 机械设计与制造,2012(10):53-55.
APA 刘运亮,&张奇峰.(2012).模块化水下电动机械手设计与运动学分析.机械设计与制造(10),53-55.
MLA 刘运亮,et al."模块化水下电动机械手设计与运动学分析".机械设计与制造 .10(2012):53-55.
Files in This Item: Download All
File Name/Size DocType Version Access License
模块化水下电动机械手设计与运动学分析.p(1001KB)期刊论文作者接受稿开放获取ODC PDDLView Download
Related Services
Recommend this item
Bookmark
Usage statistics
Export to Endnote
Google Scholar
Similar articles in Google Scholar
[刘运亮]'s Articles
[张奇峰]'s Articles
Baidu academic
Similar articles in Baidu academic
[刘运亮]'s Articles
[张奇峰]'s Articles
Bing Scholar
Similar articles in Bing Scholar
[刘运亮]'s Articles
[张奇峰]'s Articles
Terms of Use
No data!
Social Bookmark/Share
File name: 模块化水下电动机械手设计与运动学分析.pdf
Format: Adobe PDF
All comments (0)
No comment.
 

Items in the repository are protected by copyright, with all rights reserved, unless otherwise indicated.