工业机器人三自由度球关节夹持器的概念

M. Weyrich, M. W. Abdullah
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引用次数: 3

摘要

提出了一种易于安装在工业机器人上的球关节支撑夹持器的新设计思路。这种关节设计的目的是通过在一个紧凑的关节中增加三个额外的自由度(d.o.f)来增加机器人运动的灵活性。在这样做的过程中,可以增强轨迹或使用更简单的轨迹。此外,这种设计既不需要额外的链接,也不需要修改工业机器人的结构,因为它是作为末端执行器安装的。为研究该方法的有效性,本文将通过建立球关节夹持器的原型来验证理论分析和模型。
本文章由计算机程序翻译,如有差异,请以英文原文为准。
Concept of a three D.O.F spherical-joint gripper for industrial robots
This paper presents a new design concept for spherical-joint supported gripper that can be easily installed on industrial robots. The purpose of this joint design is to increase the flexibility of the robots' movements by adding three additional degrees-of-freedom (d.o.f) in one single compact joint. In doing so, the trajectory can be enhanced or more simple ones be used. In addition, this design does neither require extra links nor modification of industrial robots structures since it is being installed as an end-effector. The theoretical analysis and the model of the spherical-joint gripper will be exemplified by a prototype that was built to study the efficiency of this approach.
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