双臂机器人本体结构与关键功能部件研制研究

摘要

This project analyses the status quo and research findings of manufacturing the body structures of dual-arm robots which have a very promising application prospect in industry, and argues the body structures and the key functional units would satisfy the requirements of featuring both of the robot's dynamics and statics, thus underpinning the functioning of robots with full speed, maximum load and precision. With the detailed demonstration of the latest development of the robot integrated joints, end-effectors, assemblage and precision test, a proposal of making an important breakthrough in key technology is put forward, indicating the future know-how direction of the dual-arm robot.%双臂机器人在工业领域显示了广阔的应用前景,本体结构及关键功能部件是双臂机器人能够实现高速化、高载荷化、高精度化,满足其静力学及动力学特性要求的基础与前提.本文分析了双臂机器人本体结构生产、一体化关节、末端执行器、装配与精度测试的发展,提出了需突破的关键技术,为技术发展提供了发展方向.