| RCC手腕层叠弹性杆理论分析及性能实验 |
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| 引用本文： | 杜松年,彭商贤.RCC手腕层叠弹性杆理论分析及性能实验[J].天津大学学报(自然科学与工程技术版),1994,27(4):385-390. |
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| 作者姓名： | 杜松年 彭商贤 |
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| 作者单位： | 智能机械研究所 |
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| 基金项目： | 国家教委博士点基金,863计划资助 |
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| 摘 要： | 提出一种被动柔顺ＲＣＣ装置用的圆柱形层叠弹性杆的结构形式，并针对橡胶弹性材料的静弹性特性，对弹性杆作了受力与变形分析，刚度矩阵计算和性能实验，为ＲＣＣ装置的设计提供了理论依据。
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| 关 键 词： | 层叠弹性杆 刚度 RCC手腕 机器人 |
THEORETICAL ANALYSIS AND PROPERTY EXPERIMENT FOR LAMINATED ELASTOMER OF AN RCC WRIST |
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| Du Songnian , Peng Shangxian, Jin Zuozhong.THEORETICAL ANALYSIS AND PROPERTY EXPERIMENT FOR LAMINATED ELASTOMER OF AN RCC WRIST[J].Journal of Tianjin University(Science and Technology),1994,27(4):385-390. |
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| Authors: | Du Songnian Peng Shangxian Jin Zuozhong |
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| Institution: | Intelligent Machine Institute |
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| Abstract: | his paper describes the structural form of a laminated circular elastomer used in an RCC device. The analysis of the force and deformation of the elastomer, calculations of stiffness matrix and experiments with the elastomer were all conducted on the basis of the static elasticity of rubber materials. The results provide a theoretical basis for the designing of RCC wrists. |
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| Keywords: | laminated elastomer rubber layer force deformation stiffness |
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