核辐射探测与应急处理机器人的小型机械臂系统设计

摘要

The authors of the paper designed a new miniature manipulator system for nuclear detecting and emergency processing robots based on the consideration that traditional miniature manipulators have the shortcomings of high structure complexity and low object- grasping ability. In the system. the lever slide-type hand is used as the grasping structure, and the small arm and the big arm are designed with the mechatronics method, which is characterized by simple structure, light weight, and high ability of grasping heavy objects The simulation and experiment results show that it can meet the requirements of the miniature robots in holding heavy objedcts.%针对传统核辐射探测与应急处理机器人小型机械臂结构复杂、夹持物体重量小的问题,设计了一种新的机械臂抓持系统,该系统的特点是利用杠杆滑槽式手爪结构作为夹持部分,并实现了机械臂的小臂和大臂的机电一体化设计,因而机械结构简单、轻质,夹持物体重量大.仿真分析与实验结果表明,该机械臂可满足核辐射探测与应急处理机器人的应用需求.