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本文阐述了机器人挠性手臂的工作原理及主要部件的结构设计原则,并对其进行了运动学分析。作为实例,文中给出了具有五级臂杆的挠性手臂结构设计样图。
This paper describes the working principle of the robot flexible arm and the principle of the structural design of the main components, and analyzes its kinematics. As an example, the design of flexible arm structure with five arms is given in this paper.