乒乓球机器人腕部结构的研究

摘要

The hands of the table tennis robot existing in the Institute of Robotics of Swiss Federal Institute of Technology(ETH), the championship of Hong Kong First Contest for table tennis Robot in 1992, is made up of two rotational joints about horizontal and vertical axes for orienting the paddle and one prismatic joint for paddle movement. The trajectory of the prismatic is a straight line and the balls is curve, which affects the performance of the robot in the game. Some different mechanical designs as alternatives for the hands to improve the flexibility and performance of the robot is presented in this paper.The kinematic and dynamic characteristics is also studied and some detailed structure features is shown.%在介绍了机器人乒乓球运动的历史和基本规则的基础上，通过研究目前世界上已有的乒乓球机器人的腕部结构，针对瑞士苏黎世高等工业学院（ETH）机器人研究所研制的乒乓球机器人（1992年香港世界第一届机器人乒乓球赛冠军获得者）的腕部结构提出了几种改进方案.经计算，这几种结构都可满足击打乒乓球的要求.