浮臂V:带线驱动重量补偿机构的超冗余机械手

2003 IEEE International Conference on Robotics and Automation (Cat. No.03CH37422) Pub Date : 2003-11-10 DOI:10.1109/ROBOT.2003.1241623

S. Hirose, T. Ishii, Atsuo Haishi

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引用次数: 45

摘要

本文提出了一种线驱动的重量补偿机构。该机构由一个平行四边形连杆机构组成，该机构具有带线双滑轮的延伸部分。这是一个较轻的解决方案相比，因为没有弹簧被利用。下面详细介绍了这种新型的重量补偿机构，以及采用这种新型机构的浮臂V的性能。

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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Float arm V: hyper-redundant manipulator with wire-driven weight-compensation mechanism

In this paper, the wire-driven weight-compensation mechanism is proposed. This mechanism consists of a parallelogram linkage mechanism that has an extended portion with the wired double pulley. This is a lighter solution compared to others since no springs are utilized. Below, a detailed description of this new weight-compensation mechanism and performances of Float Arm V with this new mechanism are given.

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来源期刊

2003 IEEE International Conference on Robotics and Automation (Cat. No.03CH37422)

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