带驱动致动器的紧凑二自由度关节设计

2017 IEEE 4th International Conference on Soft Computing & Machine Intelligence (ISCMI) Pub Date : 2017-11-01 DOI:10.1109/ISCMI.2017.8279626

Lukáš Bláha

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引用次数: 3

摘要

本文研究了一种新型紧凑型2自由度关节的设计，该关节是用于超冗余度无损检测的机械臂的关键部件。采用真正的皮带驱动作动器，结合基于万向节原理的特殊结构，达到紧凑性。皮带和皮带轮的位置是解析解决，以确保最高的扭矩给定的关节尺寸和适当的皮带张力在整个范围内的关节倾斜角度。皮带松动的问题被最小化。

本文章由计算机程序翻译，如有差异，请以英文原文为准。

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Design of a compact 2-DOF joint with belt driven actuators

This paper deals with the design of a new compact 2 degree of freedom joint as a key part of a hyper-redundant robotic manipulator used for nondestructive inspections. The compactness is reached using a genuine belt driven actuator together with special architecture based on the principle of universal joint. The placement of belt and pulleys is analytically solved to ensure highest torque for given joint dimensions and adequate belt tension in the whole range of joint tilt angles. The problem with belt loosening is minimized.

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2017 IEEE 4th International Conference on Soft Computing & Machine Intelligence (ISCMI)

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