任务空间受限的机械臂负载特性分析

Analysis of Load Characteristics for Robotic Arms with Restricted Task Space

摘要: 本文提出并验证了一种基于剪叉机构的可弯曲伸展机械臂构型。机械臂采用半圆形连杆剪叉机构组成机械臂主体结构，简化驱动系统并保证一定的负载能力。基于单位荷载法建立了机械臂末端位移的数学模型，结合Ansys Workbench静力学仿真与物理样机实验，验证了机械臂横向伸展姿态下的负载性能。研究结果证实了机械臂结构设计的可行性。

Abstract: This paper proposes and validates a bendable and extendable robotic arm configuration based on a scissor mechanism. The robotic arm employs a semi-circular linkage scissor mechanism to form its primary structure, simplifying the drive system while ensuring adequate load-bearing capacity. A mathematical model for end-effector displacement of robotic arm was established using the unit load method. Combined with static simulations in Ansys Workbench and physical prototype experiments, the load performance of the robotic arm in lateral extension posture was validated. The research findings confirm the structural design’s feasibility of robotic arm.