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Research on Novel Wire Driving Robot Manipulator for Local Industrial Production Line

机译：新型工业生产线用钢丝绳驱动机器人的研究

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摘要

The research on robot manipulator is not new topic. However, it is still not easy to localize the manipulator in present writer''s region nowadays. The reason partly comes from the difficulty of reducing the manufacturing cost as well as keeping high displacement accuracy. This paper describes the research on a novel wire driving robot manipulator as a try to substitute low cost, high accuracy and large payload ability localized manipulator for the common production. Generally speaking, as to the design method of robot arms, especially of large used industrial robot manipulators, installing the driving components - such as the electric motors, transmissions and so on - directly just nearby the relative joints, is still normal. The trial model described in this paper is a 4-degree-of-freedom robot manipulator for industrial purpose, which is designed with wire driving mechanism including novel wire tensioner so that the structure becomes compact and simple, the whole weight is dropped, at the same time, the output power to do work and the displacement accuracy are increased relatively. We describe the control system and carry out several experiments to verify performance of this first trial model and expect that could be put into large practical use in future.
机译：机器人操纵器的研究并不是新课题。但是，如今将操纵器定位在当前作者区域仍然不容易。部分原因是难以降低制造成本以及保持高位移精度。本文描述了一种新型的线驱动机器人机械手的研究，以试图替代低成本，高精度和大有效载荷能力的本地化机械手来实现普通生产。一般来说，对于机械臂的设计方法，尤其是大型工业机器人的机械臂，将驱动部件（例如电动机，传动装置等）直接安装在相对关节附近是正常的。本文所述的试验模型是一种工业用途的四自由度机械手，它采用包括新型钢丝张紧器的钢丝驱动机构进行设计，从而使结构变得紧凑，简单，减轻了整体重量。同时，做功的输出功率和位移精度相对提高。我们描述了控制系统并进行了一些实验，以验证该第一个试验模型的性能，并期望将来可以将其投入实际应用。

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