论文标题
Sigma-3：救援机器人中6 DOF机器人臂配置的集成和分析
Sigma-3: Integration and Analysis of a 6 DOF Robotic Arm Configuration in a Rescue Robot
论文作者
论文摘要
本文介绍了一个名为Sigma 3的救援机器人，该机器人是针对潜在应用开发的，例如为人类无法达到危险环境的人类的帮助。同样，这些机器人可以通过足够的控制系统远程控制。提出的方法论在两个问题上：1。测量旋转，关节，自由度DOF的链接的新型机制设计，该手臂与Sigma 3，2。精确测量了三个维度的末端效应运动控制的精确测量。在拟议的机理设计中，DOF测量由平面和空间机制提出，其中4种刚性接头通过六个高扭矩MG996R伺服电动机来控制每个DOF。旋转和DOF测量由旋转基质的不同理论参考，逆运动学和实验结果组成。在配置手动测试时，提出的振荡阻尼性能的方法显示出误差少于3％。对运营时间状态的另一种评估强烈捍卫低功耗能力的机制。
This paper introduces a rescue robot named Sigma 3 which is developed for potential applications such as helping hands for humans where a human can not reach to have an assessment of the hazardous environment. Also, these kinds of robot can be controlled remotely with an adequate control system. The proposed methodology forces on two issues : 1. Novel mechanism design for measuring rotation, joints, links of Degree of Freedom DOF for an arm which is integrated with Sigma 3, 2. Precise measuring of end effector motion control over three dimensions. In the proposed mechanism design, the DOF measurement is presented by a planar and spatial mechanism where 4 types of rigid joints build up each DOF with controlling by six High Torque MG996R servo motors. Rotation and DOF measurement are consisting of different theoretical references of Rotation Matrix, Inverse Kinematics with experimental results. Presented methodology over Oscillation Damping performance exhibits less than 3 percent error while configuring for on hands testing. Another evaluation of operating time state strongly defends the mechanism of low power consumption ability.
