航空科学技术2024，Vol.35Issue(5)：60-73,14.DOI:10.19452/j.issn1007-5453.2024.05.005
机械臂结构的发展与应用综述
Review on Development and Application of Structure of Manipulator
吴琪 1王志刚 2杨宇 1芦奕菲 1刘钢 1石欣桐 1鲍盘盘1
作者信息
- 1. 中国飞机强度研究所 强度与结构完整性全国重点实验室,陕西 西安 710065
- 2. 中国飞机强度研究所 强度与结构完整性全国重点实验室,陕西 西安 710065||北京航空航天大学,北京 100191
- 折叠
摘要
Abstract
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.关键词
机械臂/发展现状/关键技术/仿生结构Key words
manipulator/development status/key technology/bionic structure引用本文复制引用
吴琪,王志刚,杨宇,芦奕菲,刘钢,石欣桐,鲍盘盘..机械臂结构的发展与应用综述[J].航空科学技术,2024,35(5):60-73,14.
