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工业机械手既然是一种可以部分地代替人手进行操作的自动机械装置,就应该使其具有类似人手的机能。人的手指、手掌、手腕、手臂由17个关节组成,具有27个动作自由度,组成了人手的7个基本动作(见图8):(1)手臂上下动作(由大小手臂上下摆动动作合成);(2)手臂左右回转;(3)手臂伸缩动作(由大小臂上下左右摆动动作合成);(4)手腕上下摆动;(5)手腕左右摆动;(6)手腕回转;(7)手掌、手指动作合成的握紧动作。
Since it is an automatic mechanical device that can be partially replaced by manpower, the industrial robot should have human-like functions. Human fingers, palms, wrists, arm consists of 17 joints, with 27 degrees of freedom of movement, composed of seven basic human actions (see Figure 8): (1) arm up and down action ); (2) around the arm rotation; (3) arm telescopic action (by the size of the arm up and down the right and left swing action synthesis); (4) wrist up and down swing; (5) wrist swinging around; (6) wrist rotation; , The action of the fingers of the combination of clenching movements.