A Design Method of Two DOF Joint at the Base of Heavy-load Manipulator Based on Linear Driving

2018 3rd International Conference on Reliability Engineering

工业技术（总论）

Dai, Zongmiao^1 ; Wu, Peizhang^2 ; Wang, Qingyuan^2

Mechanical Department, 713th Institute of China Shipbuilding Industry Corporation, Henan Province Zhengzhou

450015, China^1

Automation Department, 713th Institute of China Shipbuilding Industry Corporation, Henan Province Zhengzhou

450015, China^2

关键词: Design method;    Joint space;    Linear driving force;    Mechanical design;    Multi-body kinematics;    Principle of virtual work;    Simulation analysis;    Structural parameter;   

Others  :  https://iopscience.iop.org/article/10.1088/1757-899X/575/1/012011/pdf
DOI  :  10.1088/1757-899X/575/1/012011

学科分类：工业工程学

来源: IOP

【 摘 要 】

In this paper, we propose a two DOF joint mechanical design scheme for heavy-load manipulator based on linear driving, the key structural parameters that directly influencing on the linear driving force is determined. Based on the multi-body kinematics and the principle of virtual work, we derive the relationship between the torque of joint space at the base of the heavy-load manipulator and the force of linear driving, then by analyzing the relationship, we obtain the design method of key structural parameters. Finally, using simulation analysis we validate this design method.