| 引用本文: | 刘宪锋,杨昂岳,潘存云,等.一种新型手腕驱动机构及其运动分析.[J].国防科技大学学报,1996,18(2):26-31.[点击复制] |
| Liu Xianfeng,Yang Angyue,Pan Cunyun,et al.A New Type Drive Mechanism on Wrist Actuator and Its Kinematic Analysis[J].Journal of National University of Defense Technology,1996,18(2):26-31[点击复制] |
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| 一种新型手腕驱动机构及其运动分析 |
| 刘宪锋, 杨昂岳, 潘存云, 罗昆, 陈国锋 |
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(国防科技大学 机械电子工程与仪器系 湖南 长沙 410073)
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| 摘要: |
| 以基于球形齿轮传动的柔性手腕为研究对象，提出了一种新型手腕驱动机构，并对此机构进行运动分析，建立了它的运动模型，推导出了运动方程的解。分析结果证明了该机构运动的确定性、传动的准确性。 |
| 关键词: 手腕，驱动机构，运动分析 |
| DOI： |
| 投稿日期：1996-01-18 |
| 基金项目:国家自然科学基金资助项目 |
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| A New Type Drive Mechanism on Wrist Actuator and Its Kinematic Analysis |
| Liu Xianfeng, Yang Angyue, Pan Cunyun, Luo Kun, Chen Guofeng |
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(Department of Mechantronics Engineering and Instrumentation，NUDT，Changsha，410073)
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| Abstract: |
| Based on the research of the wrist actuator transmitted by spherical gear，this paper presents a new wrist drive mechanism. First its kinematic problem is analyzed and the kinematic model is developed. Then its solution of kinematic equation is presented. Finally，the resul of the analysis verifies the definition and accuracy of the drive mechanism. |
| Keywords: wrist actuator,drive mechanism,kinematic analysis |
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