大危险处置机械手的研制-方案及机电系统设计

Jianjun Yuan, Weijun Zhang, J. Tao
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引用次数: 3

摘要

本文在后面的章节中描述了一种新型的大危险处置机械手的基本方案和机电系统设计,并将其命名为“大手”。它主要是为了救援和公共安全目的而开发的,应该在机场、车站等公共场所有实际应用,同时由一些强大的移动设备携带。在已开发的数十种类似用途的机械手中,本文所述的机械手具有机电一体化系统中以往很少集成实现的特点:自由度冗余7个,其中夹持器冗余1个;尺寸大-最长4.4米;有效载荷能力大-在其水平完全伸展姿势下32kg;多传感器集成系统。讨论了建立这样一个“大”冗余机械手的必要性;从机理上分析了其设计难点和实现,并进行了基本实验。
本文章由计算机程序翻译,如有差异,请以英文原文为准。
Development of big danger disposal manipulator - Proposal and mechatronic system design -
This paper describes the basic proposal and mechatronic system design of a novel developed big danger disposal manipulator, named as “BIG HAND” in the later chapters. It is developed mainly for rescue and public security purpose, and is supposed to have real application in public sites such as airports, stations, and so on, while being carried by some powerful mobile equipment. Among dozens of similar purpose manipulators having been developed, the one published here has following characteristics in mechatronic system, which seldom has been implemented integratedly before: redundant in DOF (Degree Of Freedom) — 7 including 1 in gripper; big in size - with maximum 4.4m in length; big in payload ability — 32kg in its horizontal full extension posture; multi-sensor integrated system. We discuss the necessity of building such a “BIG” and redundant manipulator; analyze its design difficulty and realization in mechanism, also report the basic experiments in this paper.
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