后处理全齿轮传动机械臂的设计

金丁灿,蒋君侠,来建良,金杰峰,吴德慧,沈琛林,宋文博

Design of gearing chain-based manipulator for post-processing

Ding-can JIN,Jun-xia JIANG,Jian-liang LAI,Jie-feng JIN,De-hui WU,Chen-lin SHEN,Wen-bo SONG

表 1 箱室机械臂的D-H参数表

Tab.1 D-H parameter table of manipulator for hot cell

i αi−1/(°) ai−1/mm di/mm θi/(°) 1 0 0 −c θ1 2 90 0 0 θ2−90 3 0 a 0 θ3 4 0 b d θ4−90 5 90 0 −e θ5 6 −90 0 −f θ6