The Design of a Heavy-duty Spherical Manipulator with Remote-Center-of-Motion

摘要：

　　A heavy-duty spherical manipulator is proposed to catch the heavy object rotating around a remote-center-of-motion coinciding with the objects mass center.Firstly,the type synthesis is performed using group-decoupling innovative design method.Then the joints are constructed using a series of rollers as circular tracks that are driven by a four-bar linkage and a lead screw mechanism respectively.The motors torques are modeled using the virtual work principle and the performances of the heavy-duty spherical manipulator are analyzed.

关键词： Spherical manipulator Remote-center-of-motion Type design Mechanism design Performance

作者: Junnan Zhou Weizhong Guo

作者单位: State Key Laboratory of Mechanical System and Vibration,Shanghai Jiao Tong University,Shanghai 200240,China

会议类型: 国际会议

会议名称: The 3th IFToMM Asian Conference on Mechanism and Machine Science 2014 International Conference on Mechanism and Machine Science,2014(第三届IFTOMM亚洲机构与机器科学会议暨2014海峡两岸机构学学术会议)

会议地点: 天津

会议语种:英文

页码: 1-5

在线出版日期: 2014-07-06（万方平台首次上网日期，不代表论文的发表时间）