| 层叠型弹性杆RCC柔顺手腕设计计算 |
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| 引用本文： | 杜松年,彭商贤.层叠型弹性杆RCC柔顺手腕设计计算[J].天津大学学报(自然科学与工程技术版),1995,28(1):19-25. |
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| 作者姓名： | 杜松年 彭商贤 |
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| 作者单位： | 天津大学智能机械研究所 |
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| 摘 要： | 层叠型弹性杆由橡胶片与刚性金属片机间组合而成，通过对３－弹性杆ＲＣＣ手腕的受力与变形分析，进一步推导出手腕刚度矩阵中各元素和弹性杆中最大应力－应变的计算公式，为设计ＲＣＣ手腕主要构件尺寸和承载能力提供了理论依据。
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| 关 键 词： | 机器人 柔顺手腕 弹性杆 承载力 |
DESIGN AND CALCULATION OF THE LAMINATED ELASTOMER REMOTE CENTER COMPLIANCE ROBOT WRIST |
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| Du Songnian, Peng Shangxian, Jin Zuozhong.DESIGN AND CALCULATION OF THE LAMINATED ELASTOMER REMOTE CENTER COMPLIANCE ROBOT WRIST[J].Journal of Tianjin University(Science and Technology),1995,28(1):19-25. |
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| Authors: | Du Songnian Peng Shangxian Jin Zuozhong |
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| Institution: | Intelligent Machine Institute of Tianjin Univ. |
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| Abstract: | A laminated elastomer consists of layers of elastomers and rigid washer. Thispaper analyses the force / deformation of the RCC wrists with three laminated elastomers and thensolves the equation of terms in the wrist stiffness matrix and the equation of maximum stress /strain for elastomers. Theoretical calculations are provided for designing the dimension and capacity of RCC. |
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| Keywords: | robot flexible wrist RCC robotwrist |
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