| 主——从式智能机器人STANFORD型主机械手研究 |
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| 引用本文： | 陈丰. 主——从式智能机器人STANFORD型主机械手研究[J]. 河南科学, 1997, 15(1): 48-52 |
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| 作者姓名： | 陈丰 |
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| 作者单位： | 郑州工业大学 |
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| 摘 要： | 应用刚体动力学方法研究了６自由度ＳＴＡＮＦＯＲＤ型主机械手的运动特性。重点分析腕部和臂部的动力学状态，提出了新的腕部结构和随遇平衡系统。
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| 关 键 词： | 主机械手 运动特性 机械手 智能机器人 |
THE DEVELOPMENT OF STANFORD MARK MASTER MANIPULATOR |
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| Chen Feng. THE DEVELOPMENT OF STANFORD MARK MASTER MANIPULATOR[J]. Henan Science, 1997, 15(1): 48-52 |
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| Authors: | Chen Feng |
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| Abstract: | This paper studies the moving characteristics of a master manipulator with the dynamical analysis of rigid bodies. The development of a 6 degree of freedom direct drive master manipulator of STANFORD mark is introduced. As a focal point of it, the key to the techniques of arm and hand is discussed. The balance method of arm and the structure of a new hand are explained. |
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| Keywords: | Master mainpulator Structure Balance |
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