基于渐开线球形齿轮传动的火星采样柔性臂设计

摘要

With the engineering background of the Mars vehicle sampling manipulator, the use of a new type involute spherical gear transmission and flexible arm with multiple degrees of freedom was proposed.The flexible arm is composed of a drive unit, a steering unit, the arms unit and the terminal execution unit.The unit consisted of five arms of the spherical gear series, steering the unit consists of two thrust rod and spherical pair, at the end of the execution unit for the sample clamping actuator.The flexible arm adopted the wireless control mode, and realized the full range of swing, with light weight, exercise flexibility.%以火星车车载采样机械臂为工程背景,提出了一种利用新型渐开线球面齿轮传动且具有多自由度的柔性臂.该柔性臂由驱动单元、转向单元、臂展单元、末端执行单元组成.其中臂展单元由5对球形齿轮串联而成,转向单元由两个推力杆及球面副组成,末端执行单元为样品夹取执行器.柔性臂采用无线控制驱动方式,实现了全方位的偏摆运动,具有轻量化、运动灵活等特点.