Design of a novel 3-DOF hybrid mechanical arm

查看全文 作　　者：LI [1,2]YanBiao;JIN [1]ZhenLin;JI [2]ShiMing

机构地区：[1]College of Mechanical Engineering,Yanshan University,Qinhuangdao 066004,China;[2]Key Laboratory of Mechanical Manufacture and Automation,Zhejiang University of Technology,Hangzhou 310014,China

出　　处：《Science China(Technological Sciences)》索引2009年第52卷第12期,共9页

基　　金：Supported by the National Natural Science Foundation of China(Grant No.50575208);the Open Fund of Prime Important Discipline of Mechanical and Mechatronics Engineering(Grant No.2009EP004);the Fund of Yanshan University 摘　　要：Parameter optimization for a novel 3-DOF hybrid mechanical arm was presented by using a statistics method called the statistics parameters optimization method based on index atlases.Several kinematics and mechanics performance evaluation indices were proposed and discussed,according to the kinematics and mechanics analyses of the mechanical arm.Considering the assembly technique,a prototype of the 3-DOF hybrid mechanical arm was developed,which provided a basis for applications of the 3-DOF hybrid mechanical arm.The novel 3-DOF hybrid mechanical arm can be applied to the modern industrial fields requiring high stiffness,lower inertia and good technological efficiency.A novel 6-DOF hybrid humanoid mechanical arm was built,in which the present mechanical arm was connected with a spherical 3-DOF parallel manipulator. 关键词：3-DOF HYBRID mechanical arm KINEMATICS ANALYSES performance evaluation INDEX PARAMETER optimization

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Design of a novel 3-DOF hybrid mechanical arm

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