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提出一种基于OHM(Oil Hydraulic Muscle)的柔性机械手手腕机械结构的设计,应用一定的柔性机械手腕驱动。通过定义关节结构的笛卡尔坐标系,建立反应关节结构参数与工作空间、动力学特性之间的数学模型,得出了腕关节在不同动作方式下的驱动原理,最后利用CATIA对腕关节结构进行了电子样机分析。仿真结果表明基于OHM的柔性机械手手腕结构简洁、灵巧,能达到人手手腕的运动范围。
This paper presents a design of mechanical structure of flexible manipulator wrist based on OHM (Oil Hydraulic Muscle), which uses a certain flexible mechanical wrist drive. By defining the Cartesian coordinate system of the joint structure, the mathematical model between the structural parameters of the reaction joint and the working space and the dynamic characteristics is established, and the driving principle of the wrist joint under different operating modes is obtained. Finally, the wrist structure is analyzed by CATIA Electronic prototype analysis. Simulation results show that the OHM-based flexible manipulator’s wrist structure is concise and smart, which can reach the wrist’s range of motion.