手赚导航

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索式提取器俯仰角均可能產生誘導運動從而形成了

發布時間:2016-12-19 10:22:00 點擊:

在作手腕機構的運動設計時,要注意大、索式提取器手赚导航小手臂的關節轉角對末端操作器的 俯仰角均可能產生誘導運動。此外,手腕機構的設計還要注意減輕手臂的載荷, 應力求手腕部件的結構緊湊,減小其重量和體積,以利于手腕驅動傳動裝置的布 置和提高手腕動作的精確性。 !" 末端執行器的設計 機器人的末端執行器是直接執行作業任務的裝置。通常末端執行器的結構 和尺寸都是根據不同作業任務要求專門設計的,從而形成了多種多樣的結構型 式。根據其用途和結構的不同可分為機械式夾持器,吸附式執行器和專用工具 (如焊槍、噴嘴、電磨頭等)三類。就工業機器人中應用的機械式夾持器形式而 言,多為雙指手爪式,按其手爪的運動方式又可分為平移型(圖 !"!#$)和回轉型。 


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