机械臂结构的发展与应用综述OA

With its unique flexibility,powerful perception ability and outstanding adaptability,manipulators are widely used in national defense and military fields,such as space exploration,industrial assembly,battlefield explosion prevention and other dangerous scenarios.The bionic structure design mimics the arrangement of biological microstructures and the emergency regulation mechanism,which can greatly improve the multi-functional adaptability of the manipulator structure in the complex service environment,improve the production efficiency,expand the application field,and promote scientific and technological progress.In this paper,according to the stiffness characteristics,the manipulator can be divided into three categories:rigid manipulator,rigid-flexible coupling manipulator and flexible manipulator.The advantages,disadvantages,research status and applications of the three types of manipulators are described,and the key technologies in the design and manufacture of the manipulators are described from the perspectives of the motion principle and structure design method,the driving method and control strategy of the bionic design of the manipulators.Finally,the research status and development trend of lightweight aerospace manipulator are introduced.