| 灵巧式机械手研究现状综述 |
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| 引用本文： | 孙江宏,何宇凡,高锋,王军见.灵巧式机械手研究现状综述[J].科学技术与工程,2021,21(26):11005-11014. |
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| 作者姓名： | 孙江宏 何宇凡 高锋 王军见 |
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| 作者单位： | 北京信息科技大学机电工程学院,北京100192;清华大学机械电子工程研究所,北京100084;北京信息科技大学机电工程学院,北京100192;国家机床质量监督检测中心,北京100102 |
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| 基金项目： | 国家重大科学仪器设备开发专项;产业技术基础公共服务平台项目 |
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| 摘 要： | 灵巧式机械手作为肢体的延伸可有效协助人类完成各类场合抓取动作。首先对机器人灵巧式机械手发展历程进行概括。总结出近10年灵巧式机械手发展成果,将灵巧式机械手按照特点和传动形式分类,并进行了性能分析。接着,对灵巧式机械手应用的关键技术进行总结概述。最后,对灵巧式机械手在新材料应用、智能协同化作业以及微动控制技术等方面的未来发展趋势进行了讨论。
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| 关 键 词： | 机器人 灵巧式机械手 分类 性能分析 |
| 收稿时间： | 2020/11/24 0:00:00 |
| 修稿时间： | 2021/7/16 0:00:00 |
Review:the Research Status of Dexterous Manipulator |
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| Sun Jianghong,He Yufan,Gao Feng,Wang Junjian.Review:the Research Status of Dexterous Manipulator[J].Science Technology and Engineering,2021,21(26):11005-11014. |
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| Authors: | Sun Jianghong He Yufan Gao Feng Wang Junjian |
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| Institution: | 1.School of Mechanical Electrical Engineering, Beijing Information Science & Technology University 2.Institute of Mechatronic Engineering, Tsinghua University; China National Machine Tool Quality Supervision Testing Center |
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| Abstract: | As an extension of the body, the dexterous manipulator can effectively assist human beings to complete all kinds of situations. First of all, the development of robot dexterous manipulator is summarized in this paper. Summarize the development achievements of dexterous manipulators in the past ten years, divide the dexterous manipulators into 5 categories according to characteristics and transmission forms, and analyze their performance characteristics for different types. Then, the key technology of dexterous manipulator application is summarized. Finally, it is pointed out that the application of new materials, intelligent collaborative operation and micro-control technology of smart manipulators are the future development trends. |
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| Keywords: | Robot Dexterous manipulator |
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