The Development of Dynamic Compliant Wrist for Robots

作     者：张建民 陈豫生 

作者机构：北京理工大学机械工程系 

出 版 物：《Journal of Beijing Institute of Technology》 (北京理工大学学报（英文版）)

年 卷 期：1994年第3卷第2期

页      面：176-182页

学科分类：080202[工学-机械电子工程] 08[工学] 0804[工学-仪器科学与技术] 0802[工学-机械工程] 

基　　金：国家自然科学基金 

主　　题：industrial robots asembling (machinery)/dynamic compliance compliant element wrist automatic assembly position and attitude errors 

摘      要：Based on an analysis of the relative shaft-to-hole position and attiude errors, as well as of the mechanics and Kinematics in the process of automatic assembly of industrial robots, the paper studies the principle of construction of dynamic wrists. Type I-3 and Ⅱ-6 dynamic compliant wrists have been designed and made. Prblems in the production of compliant elements and the connection between compliant elements and wrists were also solved. A study on the results of tests of the function of two kinds of dynamic compliant wrists shows that the dynamic compliant wrist s compliancy function can be improved by adding metallic materials having higher longitudinal and transverse rigidity into the softer elstomer. And the design Principle is proved to be feasible and practicable. It can be expected that the use of dynamic compliant wrist will greatly lower the technical requirements of the shaft-hole assembly and the requirements in the resetting accuracy.