手腕
运动学
绕固定轴旋转
运动分析
铰链
螺旋理论
流离失所(心理学)
机制(生物学)
各向同性
角位移
运动(物理)
模拟
自由度(物理和化学)
计算机科学
工程类
工作区
机械工程
机器人
人工智能
物理
几何学
数学
光学
放射科
经典力学
医学
量子力学
心理治疗师
心理学
作者
Dukchan Yoon,Long Kang,Sajjad Manzoor,Youngjin Choi
摘要
Abstract This article presents a kinematic analysis and modification of a wrist mechanism of the DLR robot arm, which is based on antiparallelogram linkages. This mechanism is modified to improve the range of motion (ROM), to reduce the parasitic motion, and to approximately perform the decoupled output motion. For these purposes, the elliptical rolling motion of an overconstrained antiparallelogram is first investigated in consideration of its structural modification. Also, a specific joint that has a relatively small movement is developed as a flexible hinge by further minimizing its angular displacement for design simplification. The axode analysis of the instantaneous screw axis for wrist movements is conducted to compare the rotational performance between the original and modified mechanisms. Moreover, their workspace qualities are evaluated through analyses of the workspace and the kinematic isotropy index. Finally, the improved DLR wrist of the final modification is prototyped, and its wide circumduction is demonstrated.
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