Development and Estimation of Spatial Link Mechanisms for Power Transmission and Hinge Drive of Six-Degree-of-Freedom Manipurator

六自由度机械臂动力传输和铰链驱动空间连杆机构的开发与评估

• 批准号: 08650162
• 负责人: WATANABE Katsumi
• 金额: $ 1.22万
• 依托单位: Yamagata University
• 依托单位国家: 日本
• 项目类别: Grant-in-Aid for Scientific Research (C)
• 财政年份: 1996
• 资助国家: 日本
• 起止时间: 1996 至 1997
• 项目状态: 已结题
• 来源: https://kaken.nii.ac.jp/grant/KAKENHI-PROJECT-08650162/
• 关键词: Manipulator; Power Transmission Mechanism; Constant Velocity Coupling; Link Mechanism; Linear-Rotational Motion Transformer; Wrist Mechanism; Elbow Mechanism; 手首関節機構; 肘関節機構; 直進-回転運動変換機構

(1) The constant velocity coupling is designed by using the spatial 7R 7-link mechansim in order to transmit rotational motion between two intersecting shafts with any angle, which are arranged in parallel with central lines of two hinged arms, respectively. The sensitivity of the spatial 7R link coupling and the one of the two link chain to support its input and output axs are analyzed, and it is shown experimentally that this coupling is available with accuracy of about 0.5ﾟ in the range of intersecting angle [-60ﾟ, 60ﾟ].(2) The motion-transformation mechanism in order to transform a linear motion of the input slider to a rotational motion of the output link with constant velocity is newly developed by usig the Stephenson six-link mechanism. By means of the above mentioned mechanism by drived the ball-screw device and the 7R link coupling, it is possible to drive the elbow joint and the wrist joint through rotational shafts parallel with central lines of arms from output motions of D … More C motors. Then, a new manipulator mechanism whose power source are fixed at the base or are arranged near to the base becomes possible.(3) The wrist mechansim to generate the spherical motion of the end effector to the fore arm is designed by using the two-degree-of-freedom spherical five-link mechansim whose two spherical sliders to be revolute-paired to the shaft of the end effector. The oscillating range of 120ﾟ is experimentally analyzed, and it is shown that this wrist mechanism does not have interferance among rotational motions of its three axs.(4) The formulas of kinematic analyzes and the procedure for identifying the branches of the RSCR spatial four-link mechansim are performed for the purpose of the design of the mechanism to generate rotational motions about two orthogonal axs of the wrist mechansim.(5) The sarvo system for motion generation of the monipulator mechanism with four-degree-of-reedom is assembled and the relationship among the division-number of the generating trajectory, the frequency of instruction pulses and the trajectory error is investigated. Less

(1)采用空间7 R七杆机构设计等速联轴器，使平行于两铰臂中心线的任意角度相交的两轴之间传递旋转运动。分析了空间7 R连杆联轴器和支承其输入输出轴的两个连杆中的一个的灵敏度，实验表明，这种联轴器在相交角[-60 °，60 °]范围内精度可达0.5 °。(2)利用斯蒂芬森六杆机构，提出了一种将输入滑块的直线运动转换为输出连杆的等速旋转运动的运动转换机构。通过上述由滚珠丝杠装置和7 R连杆联轴器驱动的机构，可以通过与臂的中心线平行的旋转轴从D的输出运动手肘关节和腕关节。 ...更多信息 C马达。这样，一种新的机械手机构成为可能，其动力源固定在基座上或布置在基座附近。(3)利用两个球面滑块与末端执行器轴转动配对的二自由度球面五杆机构，设计了产生末端执行器对前臂球面运动的腕部机构。对120 °的摆动范围进行了实验分析，结果表明该机构三轴转动之间不存在干涉。(4)本文给出了RSCR空间四杆机构的运动分析公式和分支识别方法，以便于设计绕手腕机构的两正交轴作转动运动的机构。(5)组装了四自由度操作员机构运动生成的sarvo系统，研究了生成轨迹的分段数、指令脉冲频率与轨迹误差之间的关系。少

项目成果

南後 淳: "空間7Rリンク機構の運動特性解析" 日本機械学会論文集. 62・604. 4659-4667 (1996)

Jun Nango：“空间7R连杆机构的运动特性分析”日本机械工程学会会刊62・604（1996）。

K.WATANABE,T.SEKINE and J.NANGO: "Branch Identification of RSCR Spatial Four-Link Mechanism" Trans.JSME. Vol.63, No.610 (C). 2151-2158 (1997)

K.WATANABE、T.SEKINE 和 J.NANGO：“RSCR 空间四连杆机构的分支识别”Trans.JSME。

南後淳: "空間7Rリンク機構の運動特性解析" 日本機械学会論文集. 62・604. 4659-4667 (1996)

Jun Nango：“空间7R连杆机构的运动特性分析”日本机械工程学会会刊62・604（1996）。

渡辺 克巳: "RSCR空間4節リンク機構の運動特性解析" 日本機械学会論文集. 63・611. 2482-2489 (1997)

Katsumi Watanabe：“RSCR空间四连杆机构的运动特性分析”日本机械工程学会会刊63・611（1997）。

J.NANGO and K.WATAMABE: "Kinematic Analysis of General Spatial 7-Link Mechanism" Trans.JSME. Vol.62, No.604 (C). 4659-4667 (1996)

J.NANGO 和 K.WATAMABE：“一般空间七连杆机构的运动学分析”Trans.JSME。