CAJ | 학술논문

特殊领域下要求机器人具有极大的捕获范围及定姿定位精度,用以捕获漂浮目标。研究了一种机器人末端操作器,通过合理设计构型使得末端操作器具备六自由度限位能力;再通过对其抓握过程的研究,建立了不同条件下的抓握轨迹。由抓握试验可知：操作器快速闭合和锁紧有利于减小位姿偏移;采用合理的抓握控制,可以获得最大的抓握范围以及最好的抓握效果。
특수영역하요구궤기인구유겁대적포획범위급정자정위정도,용이포획표부목표。연구료일충궤기인말단조작기,통과합리설계구형사득말단조작기구비륙자유도한위능력;재통과대기조악과정적연구,건립료불동조건하적조악궤적。유조악시험가지：조작기쾌속폐합화쇄긴유리우감소위자편이;채용합리적조악공제,가이획득최대적조악범위이급최호적조악효과。
In some special case,the robot should be requested to capture the floating aim in large range.So a special end manipulator was developed.The designed configuration could help the manipulator to limit the aim in 6-DOF.By study of the grip,the different motion tracks could be founded.In the capture experiments,it can be found that the fast close can eliminate the space which the aim can move.And the most grip space and results can be obtained by using the correct control.