本發明屬于(yu)機(ji)器人手(shou)技(ji)術領域(yu)，特(te)別涉及一種支撐連桿(gan)帶輪傳動直線(xian)平動機(ji)器人手(shou)裝置的結構設計。

背景技術：

末(mo)端(duan)(duan)夾持(chi)(chi)器(qi)(qi)(qi)是(shi)(shi)機(ji)(ji)器(qi)(qi)(qi)人(ren)的(de)(de)(de)(de)(de)(de)(de)(de)重(zhong)(zhong)要部件之一。機(ji)(ji)器(qi)(qi)(qi)人(ren)通過(guo)使用(yong)末(mo)端(duan)(duan)夾持(chi)(chi)器(qi)(qi)(qi)夾持(chi)(chi)、操(cao)作與釋放物(wu)體(ti)(ti)，完成操(cao)作者安(an)排好的(de)(de)(de)(de)(de)(de)(de)(de)動作。由(you)于不(bu)同物(wu)體(ti)(ti)的(de)(de)(de)(de)(de)(de)(de)(de)形狀不(bu)同，尺(chi)寸(cun)差異比較大(da)(da)，在工(gong)業(ye)中(zhong)大(da)(da)量采用(yong)的(de)(de)(de)(de)(de)(de)(de)(de)都是(shi)(shi)具有(you)(you)(you)(you)(you)相(xiang)(xiang)對(dui)的(de)(de)(de)(de)(de)(de)(de)(de)手(shou)(shou)(shou)指(zhi)的(de)(de)(de)(de)(de)(de)(de)(de)末(mo)端(duan)(duan)夾持(chi)(chi)器(qi)(qi)(qi)，這(zhe)種(zhong)具有(you)(you)(you)(you)(you)相(xiang)(xiang)對(dui)手(shou)(shou)(shou)指(zhi)的(de)(de)(de)(de)(de)(de)(de)(de)夾持(chi)(chi)器(qi)(qi)(qi)針對(dui)多(duo)(duo)數物(wu)體(ti)(ti)抓(zhua)取任務都能(neng)(neng)夠良好完成穩定抓(zhua)取，并且末(mo)端(duan)(duan)夾持(chi)(chi)器(qi)(qi)(qi)的(de)(de)(de)(de)(de)(de)(de)(de)制造成本低，可(ke)靠性非(fei)常高。類似人(ren)手(shou)(shou)(shou)，采用(yong)兩個或多(duo)(duo)個手(shou)(shou)(shou)指(zhi)相(xiang)(xiang)對(dui)去夾取物(wu)體(ti)(ti)時(shi)，一般需要兩個手(shou)(shou)(shou)指(zhi)的(de)(de)(de)(de)(de)(de)(de)(de)末(mo)端(duan)(duan)指(zhi)段相(xiang)(xiang)互平(ping)行，這(zhe)樣可(ke)以(yi)獲得較好的(de)(de)(de)(de)(de)(de)(de)(de)抓(zhua)取效(xiao)果，具有(you)(you)(you)(you)(you)這(zhe)種(zhong)功(gong)能(neng)(neng)的(de)(de)(de)(de)(de)(de)(de)(de)手(shou)(shou)(shou)爪(zhua)稱為平(ping)動夾持(chi)(chi)器(qi)(qi)(qi)。現有(you)(you)(you)(you)(you)的(de)(de)(de)(de)(de)(de)(de)(de)平(ping)動夾持(chi)(chi)器(qi)(qi)(qi)的(de)(de)(de)(de)(de)(de)(de)(de)手(shou)(shou)(shou)指(zhi)在開(kai)合階段會產生一個圓(yuan)弧軌跡，雖然兩指(zhi)末(mo)端(duan)(duan)指(zhi)段保(bao)持(chi)(chi)了(le)平(ping)行，但是(shi)(shi)在抓(zhua)取桌面上物(wu)體(ti)(ti)時(shi)，僅(jin)僅(jin)依(yi)靠夾持(chi)(chi)器(qi)(qi)(qi)的(de)(de)(de)(de)(de)(de)(de)(de)電機(ji)(ji)運(yun)動是(shi)(shi)不(bu)能(neng)(neng)實(shi)現良好抓(zhua)取的(de)(de)(de)(de)(de)(de)(de)(de)，因為手(shou)(shou)(shou)指(zhi)在開(kai)合階段，手(shou)(shou)(shou)指(zhi)的(de)(de)(de)(de)(de)(de)(de)(de)末(mo)端(duan)(duan)指(zhi)段的(de)(de)(de)(de)(de)(de)(de)(de)高低位置隨(sui)著開(kai)合角度的(de)(de)(de)(de)(de)(de)(de)(de)不(bu)同而變化，因此根據(ju)物(wu)體(ti)(ti)的(de)(de)(de)(de)(de)(de)(de)(de)不(bu)同大(da)(da)小，抓(zhua)取時(shi)需要機(ji)(ji)器(qi)(qi)(qi)人(ren)臂(bei)部(工(gong)業(ye)機(ji)(ji)器(qi)(qi)(qi)人(ren))的(de)(de)(de)(de)(de)(de)(de)(de)多(duo)(duo)個關節運(yun)動的(de)(de)(de)(de)(de)(de)(de)(de)配合才能(neng)(neng)實(shi)現對(dui)物(wu)體(ti)(ti)的(de)(de)(de)(de)(de)(de)(de)(de)抓(zhua)取。相(xiang)(xiang)當多(duo)(duo)的(de)(de)(de)(de)(de)(de)(de)(de)直線平(ping)動裝置被開(kai)發出來并用(yong)作工(gong)業(ye)機(ji)(ji)器(qi)(qi)(qi)人(ren)的(de)(de)(de)(de)(de)(de)(de)(de)末(mo)端(duan)(duan)執行器(qi)(qi)(qi)，它們均(jun)有(you)(you)(you)(you)(you)滑(hua)槽約束，體(ti)(ti)積大(da)(da)，重(zhong)(zhong)量大(da)(da)，抓(zhua)取物(wu)體(ti)(ti)的(de)(de)(de)(de)(de)(de)(de)(de)范圍有(you)(you)(you)(you)(you)限。

技術實現要素：

本發明(ming)的(de)(de)(de)目的(de)(de)(de)是(shi)為了克服(fu)已有技術的(de)(de)(de)不(bu)足之處，提供一種支撐連桿帶輪傳動直線平(ping)動機(ji)器人(ren)手(shou)裝置(zhi)。該(gai)裝置(zhi)能實(shi)現沿著近似(si)水平(ping)直線平(ping)行夾持(chi)的(de)(de)(de)抓(zhua)取效果，末端指段(duan)在(zai)手(shou)指開合的(de)(de)(de)過程中(zhong)幾乎不(bu)發生(sheng)高(gao)度(du)方向的(de)(de)(de)位移，對中(zhong)抓(zhua)取，開合抓(zhua)取時(shi)大幅(fu)度(du)減少機(ji)器人(ren)臂部關節的(de)(de)(de)配合，抓(zhua)取范圍大，同(tong)時(shi)體積小、成本低，適用(yong)于安裝在(zai)機(ji)器人(ren)上作為末端夾持(chi)器使用(yong)。

本發明(ming)的技(ji)術方案如(ru)下：

本發明設(she)(she)(she)計的(de)(de)(de)(de)(de)一(yi)(yi)(yi)(yi)(yi)(yi)種支撐(cheng)連(lian)(lian)(lian)(lian)桿(gan)帶(dai)(dai)輪(lun)(lun)(lun)(lun)(lun)(lun)(lun)(lun)(lun)(lun)傳(chuan)(chuan)(chuan)(chuan)(chuan)(chuan)(chuan)(chuan)動(dong)(dong)(dong)(dong)(dong)(dong)(dong)(dong)(dong)直線(xian)平(ping)動(dong)(dong)(dong)(dong)(dong)(dong)(dong)(dong)(dong)機器人手(shou)裝置，其特征(zheng)在(zai)(zai)于(yu)：包括基(ji)座(zuo)、電機、減速器、傳(chuan)(chuan)(chuan)(chuan)(chuan)(chuan)(chuan)(chuan)動(dong)(dong)(dong)(dong)(dong)(dong)(dong)(dong)(dong)機構(gou)和(he)(he)至少(shao)兩個手(shou)指單元；所(suo)(suo)(suo)(suo)(suo)述(shu)(shu)(shu)(shu)(shu)(shu)(shu)電機與(yu)基(ji)座(zuo)固(gu)(gu)接(jie)(jie)(jie)(jie)；所(suo)(suo)(suo)(suo)(suo)述(shu)(shu)(shu)(shu)(shu)(shu)(shu)電機的(de)(de)(de)(de)(de)輸(shu)出(chu)軸(zhou)(zhou)(zhou)(zhou)(zhou)(zhou)(zhou)(zhou)與(yu)減速器的(de)(de)(de)(de)(de)輸(shu)入軸(zhou)(zhou)(zhou)(zhou)(zhou)(zhou)(zhou)(zhou)相連(lian)(lian)(lian)(lian)，所(suo)(suo)(suo)(suo)(suo)述(shu)(shu)(shu)(shu)(shu)(shu)(shu)減速器的(de)(de)(de)(de)(de)輸(shu)出(chu)軸(zhou)(zhou)(zhou)(zhou)(zhou)(zhou)(zhou)(zhou)與(yu)傳(chuan)(chuan)(chuan)(chuan)(chuan)(chuan)(chuan)(chuan)動(dong)(dong)(dong)(dong)(dong)(dong)(dong)(dong)(dong)機構(gou)的(de)(de)(de)(de)(de)輸(shu)入軸(zhou)(zhou)(zhou)(zhou)(zhou)(zhou)(zhou)(zhou)相連(lian)(lian)(lian)(lian)；所(suo)(suo)(suo)(suo)(suo)述(shu)(shu)(shu)(shu)(shu)(shu)(shu)手(shou)指單元包括第(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)一(yi)(yi)(yi)(yi)(yi)(yi)指段(duan)(duan)、第(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)二(er)(er)(er)(er)(er)(er)(er)(er)指段(duan)(duan)、第(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)一(yi)(yi)(yi)(yi)(yi)(yi)軸(zhou)(zhou)(zhou)(zhou)(zhou)(zhou)(zhou)(zhou)、第(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)二(er)(er)(er)(er)(er)(er)(er)(er)軸(zhou)(zhou)(zhou)(zhou)(zhou)(zhou)(zhou)(zhou)、第(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)三(san)軸(zhou)(zhou)(zhou)(zhou)(zhou)(zhou)(zhou)(zhou)、第(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)四(si)(si)(si)軸(zhou)(zhou)(zhou)(zhou)(zhou)(zhou)(zhou)(zhou)、第(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)五軸(zhou)(zhou)(zhou)(zhou)(zhou)(zhou)(zhou)(zhou)、第(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)一(yi)(yi)(yi)(yi)(yi)(yi)連(lian)(lian)(lian)(lian)桿(gan)、第(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)二(er)(er)(er)(er)(er)(er)(er)(er)連(lian)(lian)(lian)(lian)桿(gan)、第(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)三(san)連(lian)(lian)(lian)(lian)桿(gan)、第(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)一(yi)(yi)(yi)(yi)(yi)(yi)傳(chuan)(chuan)(chuan)(chuan)(chuan)(chuan)(chuan)(chuan)動(dong)(dong)(dong)(dong)(dong)(dong)(dong)(dong)(dong)輪(lun)(lun)(lun)(lun)(lun)(lun)(lun)(lun)(lun)(lun)、第(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)二(er)(er)(er)(er)(er)(er)(er)(er)傳(chuan)(chuan)(chuan)(chuan)(chuan)(chuan)(chuan)(chuan)動(dong)(dong)(dong)(dong)(dong)(dong)(dong)(dong)(dong)輪(lun)(lun)(lun)(lun)(lun)(lun)(lun)(lun)(lun)(lun)、第(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)三(san)傳(chuan)(chuan)(chuan)(chuan)(chuan)(chuan)(chuan)(chuan)動(dong)(dong)(dong)(dong)(dong)(dong)(dong)(dong)(dong)輪(lun)(lun)(lun)(lun)(lun)(lun)(lun)(lun)(lun)(lun)、第(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)一(yi)(yi)(yi)(yi)(yi)(yi)傳(chuan)(chuan)(chuan)(chuan)(chuan)(chuan)(chuan)(chuan)動(dong)(dong)(dong)(dong)(dong)(dong)(dong)(dong)(dong)件(jian)(jian)和(he)(he)第(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)二(er)(er)(er)(er)(er)(er)(er)(er)傳(chuan)(chuan)(chuan)(chuan)(chuan)(chuan)(chuan)(chuan)動(dong)(dong)(dong)(dong)(dong)(dong)(dong)(dong)(dong)件(jian)(jian)；所(suo)(suo)(suo)(suo)(suo)述(shu)(shu)(shu)(shu)(shu)(shu)(shu)第(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)一(yi)(yi)(yi)(yi)(yi)(yi)軸(zhou)(zhou)(zhou)(zhou)(zhou)(zhou)(zhou)(zhou)、第(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)二(er)(er)(er)(er)(er)(er)(er)(er)軸(zhou)(zhou)(zhou)(zhou)(zhou)(zhou)(zhou)(zhou)、第(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)三(san)軸(zhou)(zhou)(zhou)(zhou)(zhou)(zhou)(zhou)(zhou)、第(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)四(si)(si)(si)軸(zhou)(zhou)(zhou)(zhou)(zhou)(zhou)(zhou)(zhou)和(he)(he)第(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)五軸(zhou)(zhou)(zhou)(zhou)(zhou)(zhou)(zhou)(zhou)相互(hu)平(ping)行；所(suo)(suo)(suo)(suo)(suo)述(shu)(shu)(shu)(shu)(shu)(shu)(shu)傳(chuan)(chuan)(chuan)(chuan)(chuan)(chuan)(chuan)(chuan)動(dong)(dong)(dong)(dong)(dong)(dong)(dong)(dong)(dong)機構(gou)的(de)(de)(de)(de)(de)輸(shu)出(chu)軸(zhou)(zhou)(zhou)(zhou)(zhou)(zhou)(zhou)(zhou)與(yu)第(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)一(yi)(yi)(yi)(yi)(yi)(yi)軸(zhou)(zhou)(zhou)(zhou)(zhou)(zhou)(zhou)(zhou)相連(lian)(lian)(lian)(lian)；所(suo)(suo)(suo)(suo)(suo)述(shu)(shu)(shu)(shu)(shu)(shu)(shu)第(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)一(yi)(yi)(yi)(yi)(yi)(yi)軸(zhou)(zhou)(zhou)(zhou)(zhou)(zhou)(zhou)(zhou)活(huo)動(dong)(dong)(dong)(dong)(dong)(dong)(dong)(dong)(dong)套(tao)(tao)(tao)(tao)(tao)設(she)(she)(she)在(zai)(zai)基(ji)座(zuo)中(zhong)；所(suo)(suo)(suo)(suo)(suo)述(shu)(shu)(shu)(shu)(shu)(shu)(shu)第(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)一(yi)(yi)(yi)(yi)(yi)(yi)連(lian)(lian)(lian)(lian)桿(gan)的(de)(de)(de)(de)(de)一(yi)(yi)(yi)(yi)(yi)(yi)端(duan)套(tao)(tao)(tao)(tao)(tao)固(gu)(gu)在(zai)(zai)第(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)一(yi)(yi)(yi)(yi)(yi)(yi)軸(zhou)(zhou)(zhou)(zhou)(zhou)(zhou)(zhou)(zhou)上(shang)(shang)，所(suo)(suo)(suo)(suo)(suo)述(shu)(shu)(shu)(shu)(shu)(shu)(shu)第(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)二(er)(er)(er)(er)(er)(er)(er)(er)軸(zhou)(zhou)(zhou)(zhou)(zhou)(zhou)(zhou)(zhou)活(huo)動(dong)(dong)(dong)(dong)(dong)(dong)(dong)(dong)(dong)套(tao)(tao)(tao)(tao)(tao)設(she)(she)(she)在(zai)(zai)第(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)一(yi)(yi)(yi)(yi)(yi)(yi)連(lian)(lian)(lian)(lian)桿(gan)的(de)(de)(de)(de)(de)另一(yi)(yi)(yi)(yi)(yi)(yi)端(duan)中(zhong)；所(suo)(suo)(suo)(suo)(suo)述(shu)(shu)(shu)(shu)(shu)(shu)(shu)第(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)二(er)(er)(er)(er)(er)(er)(er)(er)連(lian)(lian)(lian)(lian)桿(gan)的(de)(de)(de)(de)(de)一(yi)(yi)(yi)(yi)(yi)(yi)端(duan)活(huo)動(dong)(dong)(dong)(dong)(dong)(dong)(dong)(dong)(dong)套(tao)(tao)(tao)(tao)(tao)設(she)(she)(she)在(zai)(zai)第(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)二(er)(er)(er)(er)(er)(er)(er)(er)軸(zhou)(zhou)(zhou)(zhou)(zhou)(zhou)(zhou)(zhou)上(shang)(shang)，所(suo)(suo)(suo)(suo)(suo)述(shu)(shu)(shu)(shu)(shu)(shu)(shu)第(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)二(er)(er)(er)(er)(er)(er)(er)(er)連(lian)(lian)(lian)(lian)桿(gan)的(de)(de)(de)(de)(de)另一(yi)(yi)(yi)(yi)(yi)(yi)端(duan)活(huo)動(dong)(dong)(dong)(dong)(dong)(dong)(dong)(dong)(dong)套(tao)(tao)(tao)(tao)(tao)設(she)(she)(she)在(zai)(zai)第(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)四(si)(si)(si)軸(zhou)(zhou)(zhou)(zhou)(zhou)(zhou)(zhou)(zhou)上(shang)(shang)，所(suo)(suo)(suo)(suo)(suo)述(shu)(shu)(shu)(shu)(shu)(shu)(shu)第(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)三(san)軸(zhou)(zhou)(zhou)(zhou)(zhou)(zhou)(zhou)(zhou)活(huo)動(dong)(dong)(dong)(dong)(dong)(dong)(dong)(dong)(dong)套(tao)(tao)(tao)(tao)(tao)設(she)(she)(she)在(zai)(zai)第(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)二(er)(er)(er)(er)(er)(er)(er)(er)連(lian)(lian)(lian)(lian)桿(gan)的(de)(de)(de)(de)(de)中(zhong)部(bu)；所(suo)(suo)(suo)(suo)(suo)述(shu)(shu)(shu)(shu)(shu)(shu)(shu)第(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)三(san)連(lian)(lian)(lian)(lian)桿(gan)的(de)(de)(de)(de)(de)一(yi)(yi)(yi)(yi)(yi)(yi)端(duan)活(huo)動(dong)(dong)(dong)(dong)(dong)(dong)(dong)(dong)(dong)套(tao)(tao)(tao)(tao)(tao)接(jie)(jie)(jie)(jie)在(zai)(zai)第(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)三(san)軸(zhou)(zhou)(zhou)(zhou)(zhou)(zhou)(zhou)(zhou)上(shang)(shang)，第(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)三(san)連(lian)(lian)(lian)(lian)桿(gan)的(de)(de)(de)(de)(de)另一(yi)(yi)(yi)(yi)(yi)(yi)端(duan)活(huo)動(dong)(dong)(dong)(dong)(dong)(dong)(dong)(dong)(dong)套(tao)(tao)(tao)(tao)(tao)接(jie)(jie)(jie)(jie)在(zai)(zai)第(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)五軸(zhou)(zhou)(zhou)(zhou)(zhou)(zhou)(zhou)(zhou)上(shang)(shang)，所(suo)(suo)(suo)(suo)(suo)述(shu)(shu)(shu)(shu)(shu)(shu)(shu)第(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)五軸(zhou)(zhou)(zhou)(zhou)(zhou)(zhou)(zhou)(zhou)活(huo)動(dong)(dong)(dong)(dong)(dong)(dong)(dong)(dong)(dong)套(tao)(tao)(tao)(tao)(tao)設(she)(she)(she)在(zai)(zai)基(ji)座(zuo)中(zhong)；所(suo)(suo)(suo)(suo)(suo)述(shu)(shu)(shu)(shu)(shu)(shu)(shu)第(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)一(yi)(yi)(yi)(yi)(yi)(yi)指段(duan)(duan)與(yu)第(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)二(er)(er)(er)(er)(er)(er)(er)(er)連(lian)(lian)(lian)(lian)桿(gan)固(gu)(gu)接(jie)(jie)(jie)(jie)，所(suo)(suo)(suo)(suo)(suo)述(shu)(shu)(shu)(shu)(shu)(shu)(shu)第(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)二(er)(er)(er)(er)(er)(er)(er)(er)指段(duan)(duan)套(tao)(tao)(tao)(tao)(tao)接(jie)(jie)(jie)(jie)在(zai)(zai)第(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)四(si)(si)(si)軸(zhou)(zhou)(zhou)(zhou)(zhou)(zhou)(zhou)(zhou)上(shang)(shang)；所(suo)(suo)(suo)(suo)(suo)述(shu)(shu)(shu)(shu)(shu)(shu)(shu)第(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)一(yi)(yi)(yi)(yi)(yi)(yi)傳(chuan)(chuan)(chuan)(chuan)(chuan)(chuan)(chuan)(chuan)動(dong)(dong)(dong)(dong)(dong)(dong)(dong)(dong)(dong)輪(lun)(lun)(lun)(lun)(lun)(lun)(lun)(lun)(lun)(lun)活(huo)動(dong)(dong)(dong)(dong)(dong)(dong)(dong)(dong)(dong)套(tao)(tao)(tao)(tao)(tao)接(jie)(jie)(jie)(jie)在(zai)(zai)第(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)五軸(zhou)(zhou)(zhou)(zhou)(zhou)(zhou)(zhou)(zhou)上(shang)(shang)，所(suo)(suo)(suo)(suo)(suo)述(shu)(shu)(shu)(shu)(shu)(shu)(shu)第(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)一(yi)(yi)(yi)(yi)(yi)(yi)傳(chuan)(chuan)(chuan)(chuan)(chuan)(chuan)(chuan)(chuan)動(dong)(dong)(dong)(dong)(dong)(dong)(dong)(dong)(dong)輪(lun)(lun)(lun)(lun)(lun)(lun)(lun)(lun)(lun)(lun)與(yu)基(ji)座(zuo)固(gu)(gu)接(jie)(jie)(jie)(jie)；所(suo)(suo)(suo)(suo)(suo)述(shu)(shu)(shu)(shu)(shu)(shu)(shu)第(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)二(er)(er)(er)(er)(er)(er)(er)(er)傳(chuan)(chuan)(chuan)(chuan)(chuan)(chuan)(chuan)(chuan)動(dong)(dong)(dong)(dong)(dong)(dong)(dong)(dong)(dong)輪(lun)(lun)(lun)(lun)(lun)(lun)(lun)(lun)(lun)(lun)活(huo)動(dong)(dong)(dong)(dong)(dong)(dong)(dong)(dong)(dong)套(tao)(tao)(tao)(tao)(tao)接(jie)(jie)(jie)(jie)在(zai)(zai)第(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)三(san)軸(zhou)(zhou)(zhou)(zhou)(zhou)(zhou)(zhou)(zhou)上(shang)(shang)，所(suo)(suo)(suo)(suo)(suo)述(shu)(shu)(shu)(shu)(shu)(shu)(shu)第(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)三(san)傳(chuan)(chuan)(chuan)(chuan)(chuan)(chuan)(chuan)(chuan)動(dong)(dong)(dong)(dong)(dong)(dong)(dong)(dong)(dong)輪(lun)(lun)(lun)(lun)(lun)(lun)(lun)(lun)(lun)(lun)套(tao)(tao)(tao)(tao)(tao)接(jie)(jie)(jie)(jie)在(zai)(zai)第(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)五軸(zhou)(zhou)(zhou)(zhou)(zhou)(zhou)(zhou)(zhou)上(shang)(shang)；所(suo)(suo)(suo)(suo)(suo)述(shu)(shu)(shu)(shu)(shu)(shu)(shu)第(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)三(san)傳(chuan)(chuan)(chuan)(chuan)(chuan)(chuan)(chuan)(chuan)動(dong)(dong)(dong)(dong)(dong)(dong)(dong)(dong)(dong)輪(lun)(lun)(lun)(lun)(lun)(lun)(lun)(lun)(lun)(lun)與(yu)第(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)二(er)(er)(er)(er)(er)(er)(er)(er)指段(duan)(duan)固(gu)(gu)接(jie)(jie)(jie)(jie)；所(suo)(suo)(suo)(suo)(suo)述(shu)(shu)(shu)(shu)(shu)(shu)(shu)第(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)一(yi)(yi)(yi)(yi)(yi)(yi)傳(chuan)(chuan)(chuan)(chuan)(chuan)(chuan)(chuan)(chuan)動(dong)(dong)(dong)(dong)(dong)(dong)(dong)(dong)(dong)件(jian)(jian)連(lian)(lian)(lian)(lian)接(jie)(jie)(jie)(jie)第(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)一(yi)(yi)(yi)(yi)(yi)(yi)傳(chuan)(chuan)(chuan)(chuan)(chuan)(chuan)(chuan)(chuan)動(dong)(dong)(dong)(dong)(dong)(dong)(dong)(dong)(dong)輪(lun)(lun)(lun)(lun)(lun)(lun)(lun)(lun)(lun)(lun)和(he)(he)第(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)二(er)(er)(er)(er)(er)(er)(er)(er)傳(chuan)(chuan)(chuan)(chuan)(chuan)(chuan)(chuan)(chuan)動(dong)(dong)(dong)(dong)(dong)(dong)(dong)(dong)(dong)輪(lun)(lun)(lun)(lun)(lun)(lun)(lun)(lun)(lun)(lun)，所(suo)(suo)(suo)(suo)(suo)述(shu)(shu)(shu)(shu)(shu)(shu)(shu)第(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)一(yi)(yi)(yi)(yi)(yi)(yi)傳(chuan)(chuan)(chuan)(chuan)(chuan)(chuan)(chuan)(chuan)動(dong)(dong)(dong)(dong)(dong)(dong)(dong)(dong)(dong)件(jian)(jian)采(cai)用(yong)(yong)傳(chuan)(chuan)(chuan)(chuan)(chuan)(chuan)(chuan)(chuan)動(dong)(dong)(dong)(dong)(dong)(dong)(dong)(dong)(dong)帶(dai)(dai)、鏈(lian)(lian)(lian)條或(huo)腱繩(sheng)，所(suo)(suo)(suo)(suo)(suo)述(shu)(shu)(shu)(shu)(shu)(shu)(shu)第(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)一(yi)(yi)(yi)(yi)(yi)(yi)傳(chuan)(chuan)(chuan)(chuan)(chuan)(chuan)(chuan)(chuan)動(dong)(dong)(dong)(dong)(dong)(dong)(dong)(dong)(dong)輪(lun)(lun)(lun)(lun)(lun)(lun)(lun)(lun)(lun)(lun)采(cai)用(yong)(yong)帶(dai)(dai)輪(lun)(lun)(lun)(lun)(lun)(lun)(lun)(lun)(lun)(lun)、鏈(lian)(lian)(lian)輪(lun)(lun)(lun)(lun)(lun)(lun)(lun)(lun)(lun)(lun)或(huo)繩(sheng)輪(lun)(lun)(lun)(lun)(lun)(lun)(lun)(lun)(lun)(lun)；所(suo)(suo)(suo)(suo)(suo)述(shu)(shu)(shu)(shu)(shu)(shu)(shu)第(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)二(er)(er)(er)(er)(er)(er)(er)(er)傳(chuan)(chuan)(chuan)(chuan)(chuan)(chuan)(chuan)(chuan)動(dong)(dong)(dong)(dong)(dong)(dong)(dong)(dong)(dong)輪(lun)(lun)(lun)(lun)(lun)(lun)(lun)(lun)(lun)(lun)采(cai)用(yong)(yong)帶(dai)(dai)輪(lun)(lun)(lun)(lun)(lun)(lun)(lun)(lun)(lun)(lun)、鏈(lian)(lian)(lian)輪(lun)(lun)(lun)(lun)(lun)(lun)(lun)(lun)(lun)(lun)或(huo)繩(sheng)輪(lun)(lun)(lun)(lun)(lun)(lun)(lun)(lun)(lun)(lun)；所(suo)(suo)(suo)(suo)(suo)述(shu)(shu)(shu)(shu)(shu)(shu)(shu)第(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)一(yi)(yi)(yi)(yi)(yi)(yi)傳(chuan)(chuan)(chuan)(chuan)(chuan)(chuan)(chuan)(chuan)動(dong)(dong)(dong)(dong)(dong)(dong)(dong)(dong)(dong)件(jian)(jian)、第(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)一(yi)(yi)(yi)(yi)(yi)(yi)傳(chuan)(chuan)(chuan)(chuan)(chuan)(chuan)(chuan)(chuan)動(dong)(dong)(dong)(dong)(dong)(dong)(dong)(dong)(dong)輪(lun)(lun)(lun)(lun)(lun)(lun)(lun)(lun)(lun)(lun)和(he)(he)第(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)二(er)(er)(er)(er)(er)(er)(er)(er)傳(chuan)(chuan)(chuan)(chuan)(chuan)(chuan)(chuan)(chuan)動(dong)(dong)(dong)(dong)(dong)(dong)(dong)(dong)(dong)輪(lun)(lun)(lun)(lun)(lun)(lun)(lun)(lun)(lun)(lun)三(san)者(zhe)構(gou)成帶(dai)(dai)輪(lun)(lun)(lun)(lun)(lun)(lun)(lun)(lun)(lun)(lun)傳(chuan)(chuan)(chuan)(chuan)(chuan)(chuan)(chuan)(chuan)動(dong)(dong)(dong)(dong)(dong)(dong)(dong)(dong)(dong)關系、鏈(lian)(lian)(lian)輪(lun)(lun)(lun)(lun)(lun)(lun)(lun)(lun)(lun)(lun)傳(chuan)(chuan)(chuan)(chuan)(chuan)(chuan)(chuan)(chuan)動(dong)(dong)(dong)(dong)(dong)(dong)(dong)(dong)(dong)關系或(huo)繩(sheng)輪(lun)(lun)(lun)(lun)(lun)(lun)(lun)(lun)(lun)(lun)傳(chuan)(chuan)(chuan)(chuan)(chuan)(chuan)(chuan)(chuan)動(dong)(dong)(dong)(dong)(dong)(dong)(dong)(dong)(dong)關系，所(suo)(suo)(suo)(suo)(suo)述(shu)(shu)(shu)(shu)(shu)(shu)(shu)第(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)一(yi)(yi)(yi)(yi)(yi)(yi)傳(chuan)(chuan)(chuan)(chuan)(chuan)(chuan)(chuan)(chuan)動(dong)(dong)(dong)(dong)(dong)(dong)(dong)(dong)(dong)件(jian)(jian)呈O形；所(suo)(suo)(suo)(suo)(suo)述(shu)(shu)(shu)(shu)(shu)(shu)(shu)第(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)二(er)(er)(er)(er)(er)(er)(er)(er)傳(chuan)(chuan)(chuan)(chuan)(chuan)(chuan)(chuan)(chuan)動(dong)(dong)(dong)(dong)(dong)(dong)(dong)(dong)(dong)件(jian)(jian)連(lian)(lian)(lian)(lian)接(jie)(jie)(jie)(jie)第(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)二(er)(er)(er)(er)(er)(er)(er)(er)傳(chuan)(chuan)(chuan)(chuan)(chuan)(chuan)(chuan)(chuan)動(dong)(dong)(dong)(dong)(dong)(dong)(dong)(dong)(dong)輪(lun)(lun)(lun)(lun)(lun)(lun)(lun)(lun)(lun)(lun)和(he)(he)第(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)三(san)傳(chuan)(chuan)(chuan)(chuan)(chuan)(chuan)(chuan)(chuan)動(dong)(dong)(dong)(dong)(dong)(dong)(dong)(dong)(dong)輪(lun)(lun)(lun)(lun)(lun)(lun)(lun)(lun)(lun)(lun)，所(suo)(suo)(suo)(suo)(suo)述(shu)(shu)(shu)(shu)(shu)(shu)(shu)第(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)二(er)(er)(er)(er)(er)(er)(er)(er)傳(chuan)(chuan)(chuan)(chuan)(chuan)(chuan)(chuan)(chuan)動(dong)(dong)(dong)(dong)(dong)(dong)(dong)(dong)(dong)件(jian)(jian)采(cai)用(yong)(yong)傳(chuan)(chuan)(chuan)(chuan)(chuan)(chuan)(chuan)(chuan)動(dong)(dong)(dong)(dong)(dong)(dong)(dong)(dong)(dong)帶(dai)(dai)、鏈(lian)(lian)(lian)條或(huo)腱繩(sheng)，所(suo)(suo)(suo)(suo)(suo)述(shu)(shu)(shu)(shu)(shu)(shu)(shu)第(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)三(san)傳(chuan)(chuan)(chuan)(chuan)(chuan)(chuan)(chuan)(chuan)動(dong)(dong)(dong)(dong)(dong)(dong)(dong)(dong)(dong)輪(lun)(lun)(lun)(lun)(lun)(lun)(lun)(lun)(lun)(lun)采(cai)用(yong)(yong)帶(dai)(dai)輪(lun)(lun)(lun)(lun)(lun)(lun)(lun)(lun)(lun)(lun)、鏈(lian)(lian)(lian)輪(lun)(lun)(lun)(lun)(lun)(lun)(lun)(lun)(lun)(lun)或(huo)繩(sheng)輪(lun)(lun)(lun)(lun)(lun)(lun)(lun)(lun)(lun)(lun)；所(suo)(suo)(suo)(suo)(suo)述(shu)(shu)(shu)(shu)(shu)(shu)(shu)第(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)二(er)(er)(er)(er)(er)(er)(er)(er)傳(chuan)(chuan)(chuan)(chuan)(chuan)(chuan)(chuan)(chuan)動(dong)(dong)(dong)(dong)(dong)(dong)(dong)(dong)(dong)件(jian)(jian)、第(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)二(er)(er)(er)(er)(er)(er)(er)(er)傳(chuan)(chuan)(chuan)(chuan)(chuan)(chuan)(chuan)(chuan)動(dong)(dong)(dong)(dong)(dong)(dong)(dong)(dong)(dong)輪(lun)(lun)(lun)(lun)(lun)(lun)(lun)(lun)(lun)(lun)和(he)(he)第(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)三(san)傳(chuan)(chuan)(chuan)(chuan)(chuan)(chuan)(chuan)(chuan)動(dong)(dong)(dong)(dong)(dong)(dong)(dong)(dong)(dong)輪(lun)(lun)(lun)(lun)(lun)(lun)(lun)(lun)(lun)(lun)構(gou)成帶(dai)(dai)輪(lun)(lun)(lun)(lun)(lun)(lun)(lun)(lun)(lun)(lun)傳(chuan)(chuan)(chuan)(chuan)(chuan)(chuan)(chuan)(chuan)動(dong)(dong)(dong)(dong)(dong)(dong)(dong)(dong)(dong)關系、鏈(lian)(lian)(lian)輪(lun)(lun)(lun)(lun)(lun)(lun)(lun)(lun)(lun)(lun)傳(chuan)(chuan)(chuan)(chuan)(chuan)(chuan)(chuan)(chuan)動(dong)(dong)(dong)(dong)(dong)(dong)(dong)(dong)(dong)關系或(huo)繩(sheng)輪(lun)(lun)(lun)(lun)(lun)(lun)(lun)(lun)(lun)(lun)傳(chuan)(chuan)(chuan)(chuan)(chuan)(chuan)(chuan)(chuan)動(dong)(dong)(dong)(dong)(dong)(dong)(dong)(dong)(dong)關系，所(suo)(suo)(suo)(suo)(suo)述(shu)(shu)(shu)(shu)(shu)(shu)(shu)第(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)二(er)(er)(er)(er)(er)(er)(er)(er)傳(chuan)(chuan)(chuan)(chuan)(chuan)(chuan)(chuan)(chuan)動(dong)(dong)(dong)(dong)(dong)(dong)(dong)(dong)(dong)件(jian)(jian)呈O形；設(she)(she)(she)第(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)一(yi)(yi)(yi)(yi)(yi)(yi)傳(chuan)(chuan)(chuan)(chuan)(chuan)(chuan)(chuan)(chuan)動(dong)(dong)(dong)(dong)(dong)(dong)(dong)(dong)(dong)輪(lun)(lun)(lun)(lun)(lun)(lun)(lun)(lun)(lun)(lun)到第(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)二(er)(er)(er)(er)(er)(er)(er)(er)傳(chuan)(chuan)(chuan)(chuan)(chuan)(chuan)(chuan)(chuan)動(dong)(dong)(dong)(dong)(dong)(dong)(dong)(dong)(dong)輪(lun)(lun)(lun)(lun)(lun)(lun)(lun)(lun)(lun)(lun)的(de)(de)(de)(de)(de)傳(chuan)(chuan)(chuan)(chuan)(chuan)(chuan)(chuan)(chuan)動(dong)(dong)(dong)(dong)(dong)(dong)(dong)(dong)(dong)比(bi)為i，第(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)二(er)(er)(er)(er)(er)(er)(er)(er)傳(chuan)(chuan)(chuan)(chuan)(chuan)(chuan)(chuan)(chuan)動(dong)(dong)(dong)(dong)(dong)(dong)(dong)(dong)(dong)輪(lun)(lun)(lun)(lun)(lun)(lun)(lun)(lun)(lun)(lun)到第(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)三(san)傳(chuan)(chuan)(chuan)(chuan)(chuan)(chuan)(chuan)(chuan)動(dong)(dong)(dong)(dong)(dong)(dong)(dong)(dong)(dong)輪(lun)(lun)(lun)(lun)(lun)(lun)(lun)(lun)(lun)(lun)的(de)(de)(de)(de)(de)傳(chuan)(chuan)(chuan)(chuan)(chuan)(chuan)(chuan)(chuan)動(dong)(dong)(dong)(dong)(dong)(dong)(dong)(dong)(dong)比(bi)為j，ij＝1；設(she)(she)(she)第(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)一(yi)(yi)(yi)(yi)(yi)(yi)軸(zhou)(zhou)(zhou)(zhou)(zhou)(zhou)(zhou)(zhou)的(de)(de)(de)(de)(de)中(zhong)心(xin)為點(dian)(dian)A，第(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)二(er)(er)(er)(er)(er)(er)(er)(er)軸(zhou)(zhou)(zhou)(zhou)(zhou)(zhou)(zhou)(zhou)的(de)(de)(de)(de)(de)中(zhong)心(xin)為點(dian)(dian)B，第(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)三(san)軸(zhou)(zhou)(zhou)(zhou)(zhou)(zhou)(zhou)(zhou)的(de)(de)(de)(de)(de)中(zhong)心(xin)為點(dian)(dian)C，第(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)四(si)(si)(si)軸(zhou)(zhou)(zhou)(zhou)(zhou)(zhou)(zhou)(zhou)的(de)(de)(de)(de)(de)中(zhong)心(xin)為點(dian)(dian)D，第(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)五軸(zhou)(zhou)(zhou)(zhou)(zhou)(zhou)(zhou)(zhou)的(de)(de)(de)(de)(de)中(zhong)心(xin)為點(dian)(dian)E，線(xian)段(duan)(duan)BC的(de)(de)(de)(de)(de)長(chang)度(du)、線(xian)段(duan)(duan)CD的(de)(de)(de)(de)(de)長(chang)度(du)和(he)(he)線(xian)段(duan)(duan)CE的(de)(de)(de)(de)(de)長(chang)度(du)三(san)者(zhe)相等，線(xian)段(duan)(duan)AE的(de)(de)(de)(de)(de)長(chang)度(du)等于(yu)線(xian)段(duan)(duan)AB的(de)(de)(de)(de)(de)長(chang)度(du)的(de)(de)(de)(de)(de)2倍，線(xian)段(duan)(duan)CE的(de)(de)(de)(de)(de)長(chang)度(du)是線(xian)段(duan)(duan)AB的(de)(de)(de)(de)(de)長(chang)度(du)的(de)(de)(de)(de)(de)2.5倍。

本發(fa)明與(yu)現有技術(shu)相比，具有以下優點和突(tu)出性效果：

本發明裝置(zhi)利用(yong)(yong)電(dian)機、連桿傳動機構、帶輪傳動機構等綜合(he)實現了沿(yan)著近(jin)似(si)水平(ping)直線平(ping)行夾持的抓(zhua)取(qu)效果，末端指(zhi)段(duan)在手指(zhi)開合(he)的過程中(zhong)幾乎不發生高度(du)方向的位移，對(dui)中(zhong)抓(zhua)取(qu)，開合(he)抓(zhua)取(qu)時大(da)幅度(du)減少機器人臂部關節的配合(he)，抓(zhua)取(qu)范圍(wei)大(da)，抓(zhua)取(qu)穩定可靠；該裝置(zhi)結構簡單、體積(ji)小、重量輕，加工、裝配和(he)維修成本低，適用(yong)(yong)于安裝在機器人上(shang)作為末端夾持器使(shi)用(yong)(yong)。

附圖說明

圖1是本發明設計(ji)的(de)支撐(cheng)連桿(gan)帶輪(lun)傳動(dong)直線(xian)平動(dong)機器人手裝置的(de)一種實施(shi)例(li)的(de)立體外觀(guan)圖。

圖(tu)2是圖(tu)1所示實施例的側視外(wai)觀圖(tu)(未畫出部分零件(jian))。

圖(tu)3是圖(tu)1所(suo)示(shi)實施例的立(li)體觀(guan)圖(tu)(未畫出部分(fen)零(ling)件)。

圖(tu)4是圖(tu)2的右側視圖(tu)(未畫出部(bu)分零(ling)件)。

圖(tu)5是連桿原理(li)示意圖(tu)。

圖(tu)(tu)6至圖(tu)(tu)8是圖(tu)(tu)1所示實施(shi)例抓(zhua)取物體過程示意(yi)圖(tu)(tu)。

在圖1至圖8中：

1－基(ji)座， 2－手指單(dan)元(yuan)，  3－電機， 31－減速器，

41－第(di)(di)一錐(zhui)齒(chi)(chi)輪(lun)， 42－第(di)(di)二錐(zhui)齒(chi)(chi)輪(lun)， 43－過渡軸， 44－第(di)(di)一齒(chi)(chi)輪(lun)，

45－第(di)(di)二(er)齒輪(lun)(lun)， 51－第(di)(di)一帶(dai)輪(lun)(lun)， 52－第(di)(di)二(er)帶(dai)輪(lun)(lun)， 53－傳動帶(dai)，

21－第(di)一指段(duan)， 22－第(di)二指段(duan)， 61－第(di)一軸(zhou)， 62－第(di)二軸(zhou)，

63－第(di)三軸， 64－第(di)四軸， 65－第(di)五軸， 71－第(di)一連桿，

72－第(di)二連桿， 73－第(di)三連桿， 81－第(di)一傳(chuan)動輪， 82－第(di)二傳(chuan)動輪，

83－第三傳(chuan)動(dong)輪， 84－第一傳(chuan)動(dong)件(jian)， 85－第二傳(chuan)動(dong)件(jian)， 9－物體(ti)。

具體實施方式

下面結(jie)合附圖及實(shi)施例進一步詳細(xi)介紹本發明的(de)具(ju)體結(jie)構(gou)、工作原(yuan)理的(de)內(nei)容(rong)。

本發明(ming)設(she)計(ji)的(de)(de)(de)(de)(de)(de)(de)支撐(cheng)連(lian)(lian)(lian)(lian)桿(gan)帶(dai)輪(lun)(lun)(lun)(lun)(lun)傳(chuan)(chuan)(chuan)(chuan)(chuan)(chuan)(chuan)(chuan)(chuan)(chuan)(chuan)動(dong)(dong)(dong)(dong)(dong)(dong)(dong)(dong)(dong)(dong)(dong)直線(xian)平動(dong)(dong)(dong)(dong)(dong)(dong)(dong)(dong)(dong)(dong)(dong)機(ji)(ji)器(qi)人手(shou)裝(zhuang)置的(de)(de)(de)(de)(de)(de)(de)一(yi)(yi)(yi)(yi)(yi)(yi)(yi)種實施例，如圖(tu)1至圖(tu)4所(suo)(suo)(suo)(suo)示(shi)，包(bao)括基座1、電機(ji)(ji)3、減速器(qi)31、傳(chuan)(chuan)(chuan)(chuan)(chuan)(chuan)(chuan)(chuan)(chuan)(chuan)(chuan)動(dong)(dong)(dong)(dong)(dong)(dong)(dong)(dong)(dong)(dong)(dong)機(ji)(ji)構和兩(liang)個(ge)手(shou)指(zhi)(zhi)(zhi)單元2；所(suo)(suo)(suo)(suo)述(shu)(shu)(shu)(shu)電機(ji)(ji)3與(yu)(yu)(yu)基座1固接(jie)(jie)(jie)；所(suo)(suo)(suo)(suo)述(shu)(shu)(shu)(shu)電機(ji)(ji)3的(de)(de)(de)(de)(de)(de)(de)輸出軸(zhou)(zhou)(zhou)(zhou)與(yu)(yu)(yu)減速器(qi)31的(de)(de)(de)(de)(de)(de)(de)輸入(ru)軸(zhou)(zhou)(zhou)(zhou)相(xiang)連(lian)(lian)(lian)(lian)，所(suo)(suo)(suo)(suo)述(shu)(shu)(shu)(shu)減速器(qi)31的(de)(de)(de)(de)(de)(de)(de)輸出軸(zhou)(zhou)(zhou)(zhou)與(yu)(yu)(yu)傳(chuan)(chuan)(chuan)(chuan)(chuan)(chuan)(chuan)(chuan)(chuan)(chuan)(chuan)動(dong)(dong)(dong)(dong)(dong)(dong)(dong)(dong)(dong)(dong)(dong)機(ji)(ji)構的(de)(de)(de)(de)(de)(de)(de)輸入(ru)軸(zhou)(zhou)(zhou)(zhou)相(xiang)連(lian)(lian)(lian)(lian)；所(suo)(suo)(suo)(suo)述(shu)(shu)(shu)(shu)手(shou)指(zhi)(zhi)(zhi)單元2包(bao)括第(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)一(yi)(yi)(yi)(yi)(yi)(yi)(yi)指(zhi)(zhi)(zhi)段(duan)(duan)21、第(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)二(er)(er)(er)(er)(er)指(zhi)(zhi)(zhi)段(duan)(duan)22、第(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)一(yi)(yi)(yi)(yi)(yi)(yi)(yi)軸(zhou)(zhou)(zhou)(zhou)61、第(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)二(er)(er)(er)(er)(er)軸(zhou)(zhou)(zhou)(zhou)62、第(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)三(san)(san)(san)(san)軸(zhou)(zhou)(zhou)(zhou)63、第(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)四(si)(si)軸(zhou)(zhou)(zhou)(zhou)64、第(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)五(wu)軸(zhou)(zhou)(zhou)(zhou)65、第(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)一(yi)(yi)(yi)(yi)(yi)(yi)(yi)連(lian)(lian)(lian)(lian)桿(gan)71、第(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)二(er)(er)(er)(er)(er)連(lian)(lian)(lian)(lian)桿(gan)72、第(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)三(san)(san)(san)(san)連(lian)(lian)(lian)(lian)桿(gan)73、第(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)一(yi)(yi)(yi)(yi)(yi)(yi)(yi)傳(chuan)(chuan)(chuan)(chuan)(chuan)(chuan)(chuan)(chuan)(chuan)(chuan)(chuan)動(dong)(dong)(dong)(dong)(dong)(dong)(dong)(dong)(dong)(dong)(dong)輪(lun)(lun)(lun)(lun)(lun)81、第(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)二(er)(er)(er)(er)(er)傳(chuan)(chuan)(chuan)(chuan)(chuan)(chuan)(chuan)(chuan)(chuan)(chuan)(chuan)動(dong)(dong)(dong)(dong)(dong)(dong)(dong)(dong)(dong)(dong)(dong)輪(lun)(lun)(lun)(lun)(lun)82、第(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)三(san)(san)(san)(san)傳(chuan)(chuan)(chuan)(chuan)(chuan)(chuan)(chuan)(chuan)(chuan)(chuan)(chuan)動(dong)(dong)(dong)(dong)(dong)(dong)(dong)(dong)(dong)(dong)(dong)輪(lun)(lun)(lun)(lun)(lun)83、第(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)一(yi)(yi)(yi)(yi)(yi)(yi)(yi)傳(chuan)(chuan)(chuan)(chuan)(chuan)(chuan)(chuan)(chuan)(chuan)(chuan)(chuan)動(dong)(dong)(dong)(dong)(dong)(dong)(dong)(dong)(dong)(dong)(dong)件(jian)(jian)(jian)84和第(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)二(er)(er)(er)(er)(er)傳(chuan)(chuan)(chuan)(chuan)(chuan)(chuan)(chuan)(chuan)(chuan)(chuan)(chuan)動(dong)(dong)(dong)(dong)(dong)(dong)(dong)(dong)(dong)(dong)(dong)件(jian)(jian)(jian)85；所(suo)(suo)(suo)(suo)述(shu)(shu)(shu)(shu)第(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)一(yi)(yi)(yi)(yi)(yi)(yi)(yi)軸(zhou)(zhou)(zhou)(zhou)61、第(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)二(er)(er)(er)(er)(er)軸(zhou)(zhou)(zhou)(zhou)62、第(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)三(san)(san)(san)(san)軸(zhou)(zhou)(zhou)(zhou)63、第(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)四(si)(si)軸(zhou)(zhou)(zhou)(zhou)64和第(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)五(wu)軸(zhou)(zhou)(zhou)(zhou)65相(xiang)互平行；所(suo)(suo)(suo)(suo)述(shu)(shu)(shu)(shu)傳(chuan)(chuan)(chuan)(chuan)(chuan)(chuan)(chuan)(chuan)(chuan)(chuan)(chuan)動(dong)(dong)(dong)(dong)(dong)(dong)(dong)(dong)(dong)(dong)(dong)機(ji)(ji)構的(de)(de)(de)(de)(de)(de)(de)輸出軸(zhou)(zhou)(zhou)(zhou)與(yu)(yu)(yu)第(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)一(yi)(yi)(yi)(yi)(yi)(yi)(yi)軸(zhou)(zhou)(zhou)(zhou)61相(xiang)連(lian)(lian)(lian)(lian)；所(suo)(suo)(suo)(suo)述(shu)(shu)(shu)(shu)第(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)一(yi)(yi)(yi)(yi)(yi)(yi)(yi)軸(zhou)(zhou)(zhou)(zhou)61活(huo)(huo)(huo)動(dong)(dong)(dong)(dong)(dong)(dong)(dong)(dong)(dong)(dong)(dong)套(tao)(tao)(tao)設(she)在(zai)(zai)(zai)基座1中(zhong)(zhong)(zhong)；所(suo)(suo)(suo)(suo)述(shu)(shu)(shu)(shu)第(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)一(yi)(yi)(yi)(yi)(yi)(yi)(yi)連(lian)(lian)(lian)(lian)桿(gan)71的(de)(de)(de)(de)(de)(de)(de)一(yi)(yi)(yi)(yi)(yi)(yi)(yi)端(duan)(duan)套(tao)(tao)(tao)固在(zai)(zai)(zai)第(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)一(yi)(yi)(yi)(yi)(yi)(yi)(yi)軸(zhou)(zhou)(zhou)(zhou)61上(shang)(shang)，所(suo)(suo)(suo)(suo)述(shu)(shu)(shu)(shu)第(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)二(er)(er)(er)(er)(er)軸(zhou)(zhou)(zhou)(zhou)62活(huo)(huo)(huo)動(dong)(dong)(dong)(dong)(dong)(dong)(dong)(dong)(dong)(dong)(dong)套(tao)(tao)(tao)設(she)在(zai)(zai)(zai)第(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)一(yi)(yi)(yi)(yi)(yi)(yi)(yi)連(lian)(lian)(lian)(lian)桿(gan)71的(de)(de)(de)(de)(de)(de)(de)另一(yi)(yi)(yi)(yi)(yi)(yi)(yi)端(duan)(duan)中(zhong)(zhong)(zhong)；所(suo)(suo)(suo)(suo)述(shu)(shu)(shu)(shu)第(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)二(er)(er)(er)(er)(er)連(lian)(lian)(lian)(lian)桿(gan)72的(de)(de)(de)(de)(de)(de)(de)一(yi)(yi)(yi)(yi)(yi)(yi)(yi)端(duan)(duan)活(huo)(huo)(huo)動(dong)(dong)(dong)(dong)(dong)(dong)(dong)(dong)(dong)(dong)(dong)套(tao)(tao)(tao)設(she)在(zai)(zai)(zai)第(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)二(er)(er)(er)(er)(er)軸(zhou)(zhou)(zhou)(zhou)62上(shang)(shang)，所(suo)(suo)(suo)(suo)述(shu)(shu)(shu)(shu)第(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)二(er)(er)(er)(er)(er)連(lian)(lian)(lian)(lian)桿(gan)72的(de)(de)(de)(de)(de)(de)(de)另一(yi)(yi)(yi)(yi)(yi)(yi)(yi)端(duan)(duan)活(huo)(huo)(huo)動(dong)(dong)(dong)(dong)(dong)(dong)(dong)(dong)(dong)(dong)(dong)套(tao)(tao)(tao)設(she)在(zai)(zai)(zai)第(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)四(si)(si)軸(zhou)(zhou)(zhou)(zhou)64上(shang)(shang)，所(suo)(suo)(suo)(suo)述(shu)(shu)(shu)(shu)第(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)三(san)(san)(san)(san)軸(zhou)(zhou)(zhou)(zhou)63活(huo)(huo)(huo)動(dong)(dong)(dong)(dong)(dong)(dong)(dong)(dong)(dong)(dong)(dong)套(tao)(tao)(tao)設(she)在(zai)(zai)(zai)第(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)二(er)(er)(er)(er)(er)連(lian)(lian)(lian)(lian)桿(gan)72的(de)(de)(de)(de)(de)(de)(de)中(zhong)(zhong)(zhong)部；所(suo)(suo)(suo)(suo)述(shu)(shu)(shu)(shu)第(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)三(san)(san)(san)(san)連(lian)(lian)(lian)(lian)桿(gan)73的(de)(de)(de)(de)(de)(de)(de)一(yi)(yi)(yi)(yi)(yi)(yi)(yi)端(duan)(duan)活(huo)(huo)(huo)動(dong)(dong)(dong)(dong)(dong)(dong)(dong)(dong)(dong)(dong)(dong)套(tao)(tao)(tao)接(jie)(jie)(jie)在(zai)(zai)(zai)第(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)三(san)(san)(san)(san)軸(zhou)(zhou)(zhou)(zhou)63上(shang)(shang)，第(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)三(san)(san)(san)(san)連(lian)(lian)(lian)(lian)桿(gan)73的(de)(de)(de)(de)(de)(de)(de)另一(yi)(yi)(yi)(yi)(yi)(yi)(yi)端(duan)(duan)活(huo)(huo)(huo)動(dong)(dong)(dong)(dong)(dong)(dong)(dong)(dong)(dong)(dong)(dong)套(tao)(tao)(tao)接(jie)(jie)(jie)在(zai)(zai)(zai)第(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)五(wu)軸(zhou)(zhou)(zhou)(zhou)85上(shang)(shang)，所(suo)(suo)(suo)(suo)述(shu)(shu)(shu)(shu)第(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)五(wu)軸(zhou)(zhou)(zhou)(zhou)85活(huo)(huo)(huo)動(dong)(dong)(dong)(dong)(dong)(dong)(dong)(dong)(dong)(dong)(dong)套(tao)(tao)(tao)設(she)在(zai)(zai)(zai)基座1中(zhong)(zhong)(zhong)；所(suo)(suo)(suo)(suo)述(shu)(shu)(shu)(shu)第(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)一(yi)(yi)(yi)(yi)(yi)(yi)(yi)指(zhi)(zhi)(zhi)段(duan)(duan)21與(yu)(yu)(yu)第(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)二(er)(er)(er)(er)(er)連(lian)(lian)(lian)(lian)桿(gan)72固接(jie)(jie)(jie)，所(suo)(suo)(suo)(suo)述(shu)(shu)(shu)(shu)第(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)二(er)(er)(er)(er)(er)指(zhi)(zhi)(zhi)段(duan)(duan)22套(tao)(tao)(tao)接(jie)(jie)(jie)在(zai)(zai)(zai)第(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)四(si)(si)軸(zhou)(zhou)(zhou)(zhou)64上(shang)(shang)；所(suo)(suo)(suo)(suo)述(shu)(shu)(shu)(shu)第(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)一(yi)(yi)(yi)(yi)(yi)(yi)(yi)傳(chuan)(chuan)(chuan)(chuan)(chuan)(chuan)(chuan)(chuan)(chuan)(chuan)(chuan)動(dong)(dong)(dong)(dong)(dong)(dong)(dong)(dong)(dong)(dong)(dong)輪(lun)(lun)(lun)(lun)(lun)81活(huo)(huo)(huo)動(dong)(dong)(dong)(dong)(dong)(dong)(dong)(dong)(dong)(dong)(dong)套(tao)(tao)(tao)接(jie)(jie)(jie)在(zai)(zai)(zai)第(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)五(wu)軸(zhou)(zhou)(zhou)(zhou)65上(shang)(shang)，所(suo)(suo)(suo)(suo)述(shu)(shu)(shu)(shu)第(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)一(yi)(yi)(yi)(yi)(yi)(yi)(yi)傳(chuan)(chuan)(chuan)(chuan)(chuan)(chuan)(chuan)(chuan)(chuan)(chuan)(chuan)動(dong)(dong)(dong)(dong)(dong)(dong)(dong)(dong)(dong)(dong)(dong)輪(lun)(lun)(lun)(lun)(lun)81與(yu)(yu)(yu)基座1固接(jie)(jie)(jie)；所(suo)(suo)(suo)(suo)述(shu)(shu)(shu)(shu)第(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)二(er)(er)(er)(er)(er)傳(chuan)(chuan)(chuan)(chuan)(chuan)(chuan)(chuan)(chuan)(chuan)(chuan)(chuan)動(dong)(dong)(dong)(dong)(dong)(dong)(dong)(dong)(dong)(dong)(dong)輪(lun)(lun)(lun)(lun)(lun)82活(huo)(huo)(huo)動(dong)(dong)(dong)(dong)(dong)(dong)(dong)(dong)(dong)(dong)(dong)套(tao)(tao)(tao)接(jie)(jie)(jie)在(zai)(zai)(zai)第(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)三(san)(san)(san)(san)軸(zhou)(zhou)(zhou)(zhou)63上(shang)(shang)，所(suo)(suo)(suo)(suo)述(shu)(shu)(shu)(shu)第(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)三(san)(san)(san)(san)傳(chuan)(chuan)(chuan)(chuan)(chuan)(chuan)(chuan)(chuan)(chuan)(chuan)(chuan)動(dong)(dong)(dong)(dong)(dong)(dong)(dong)(dong)(dong)(dong)(dong)輪(lun)(lun)(lun)(lun)(lun)83套(tao)(tao)(tao)接(jie)(jie)(jie)在(zai)(zai)(zai)第(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)五(wu)軸(zhou)(zhou)(zhou)(zhou)65上(shang)(shang)；所(suo)(suo)(suo)(suo)述(shu)(shu)(shu)(shu)第(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)三(san)(san)(san)(san)傳(chuan)(chuan)(chuan)(chuan)(chuan)(chuan)(chuan)(chuan)(chuan)(chuan)(chuan)動(dong)(dong)(dong)(dong)(dong)(dong)(dong)(dong)(dong)(dong)(dong)輪(lun)(lun)(lun)(lun)(lun)83與(yu)(yu)(yu)第(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)二(er)(er)(er)(er)(er)指(zhi)(zhi)(zhi)段(duan)(duan)22固接(jie)(jie)(jie)；所(suo)(suo)(suo)(suo)述(shu)(shu)(shu)(shu)第(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)一(yi)(yi)(yi)(yi)(yi)(yi)(yi)傳(chuan)(chuan)(chuan)(chuan)(chuan)(chuan)(chuan)(chuan)(chuan)(chuan)(chuan)動(dong)(dong)(dong)(dong)(dong)(dong)(dong)(dong)(dong)(dong)(dong)件(jian)(jian)(jian)84連(lian)(lian)(lian)(lian)接(jie)(jie)(jie)第(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)一(yi)(yi)(yi)(yi)(yi)(yi)(yi)傳(chuan)(chuan)(chuan)(chuan)(chuan)(chuan)(chuan)(chuan)(chuan)(chuan)(chuan)動(dong)(dong)(dong)(dong)(dong)(dong)(dong)(dong)(dong)(dong)(dong)輪(lun)(lun)(lun)(lun)(lun)81和第(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)二(er)(er)(er)(er)(er)傳(chuan)(chuan)(chuan)(chuan)(chuan)(chuan)(chuan)(chuan)(chuan)(chuan)(chuan)動(dong)(dong)(dong)(dong)(dong)(dong)(dong)(dong)(dong)(dong)(dong)輪(lun)(lun)(lun)(lun)(lun)82，所(suo)(suo)(suo)(suo)述(shu)(shu)(shu)(shu)第(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)一(yi)(yi)(yi)(yi)(yi)(yi)(yi)傳(chuan)(chuan)(chuan)(chuan)(chuan)(chuan)(chuan)(chuan)(chuan)(chuan)(chuan)動(dong)(dong)(dong)(dong)(dong)(dong)(dong)(dong)(dong)(dong)(dong)件(jian)(jian)(jian)84采(cai)用(yong)(yong)傳(chuan)(chuan)(chuan)(chuan)(chuan)(chuan)(chuan)(chuan)(chuan)(chuan)(chuan)動(dong)(dong)(dong)(dong)(dong)(dong)(dong)(dong)(dong)(dong)(dong)帶(dai)、鏈條或(huo)(huo)腱(jian)繩(sheng)(sheng)(sheng)，所(suo)(suo)(suo)(suo)述(shu)(shu)(shu)(shu)第(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)一(yi)(yi)(yi)(yi)(yi)(yi)(yi)傳(chuan)(chuan)(chuan)(chuan)(chuan)(chuan)(chuan)(chuan)(chuan)(chuan)(chuan)動(dong)(dong)(dong)(dong)(dong)(dong)(dong)(dong)(dong)(dong)(dong)輪(lun)(lun)(lun)(lun)(lun)81采(cai)用(yong)(yong)帶(dai)輪(lun)(lun)(lun)(lun)(lun)、鏈輪(lun)(lun)(lun)(lun)(lun)或(huo)(huo)繩(sheng)(sheng)(sheng)輪(lun)(lun)(lun)(lun)(lun)；所(suo)(suo)(suo)(suo)述(shu)(shu)(shu)(shu)第(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)二(er)(er)(er)(er)(er)傳(chuan)(chuan)(chuan)(chuan)(chuan)(chuan)(chuan)(chuan)(chuan)(chuan)(chuan)動(dong)(dong)(dong)(dong)(dong)(dong)(dong)(dong)(dong)(dong)(dong)輪(lun)(lun)(lun)(lun)(lun)82采(cai)用(yong)(yong)帶(dai)輪(lun)(lun)(lun)(lun)(lun)、鏈輪(lun)(lun)(lun)(lun)(lun)或(huo)(huo)繩(sheng)(sheng)(sheng)輪(lun)(lun)(lun)(lun)(lun)；所(suo)(suo)(suo)(suo)述(shu)(shu)(shu)(shu)第(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)一(yi)(yi)(yi)(yi)(yi)(yi)(yi)傳(chuan)(chuan)(chuan)(chuan)(chuan)(chuan)(chuan)(chuan)(chuan)(chuan)(chuan)動(dong)(dong)(dong)(dong)(dong)(dong)(dong)(dong)(dong)(dong)(dong)件(jian)(jian)(jian)84、第(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)一(yi)(yi)(yi)(yi)(yi)(yi)(yi)傳(chuan)(chuan)(chuan)(chuan)(chuan)(chuan)(chuan)(chuan)(chuan)(chuan)(chuan)動(dong)(dong)(dong)(dong)(dong)(dong)(dong)(dong)(dong)(dong)(dong)輪(lun)(lun)(lun)(lun)(lun)81和第(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)二(er)(er)(er)(er)(er)傳(chuan)(chuan)(chuan)(chuan)(chuan)(chuan)(chuan)(chuan)(chuan)(chuan)(chuan)動(dong)(dong)(dong)(dong)(dong)(dong)(dong)(dong)(dong)(dong)(dong)輪(lun)(lun)(lun)(lun)(lun)82三(san)(san)(san)(san)者構成帶(dai)輪(lun)(lun)(lun)(lun)(lun)傳(chuan)(chuan)(chuan)(chuan)(chuan)(chuan)(chuan)(chuan)(chuan)(chuan)(chuan)動(dong)(dong)(dong)(dong)(dong)(dong)(dong)(dong)(dong)(dong)(dong)關(guan)系(xi)(xi)、鏈輪(lun)(lun)(lun)(lun)(lun)傳(chuan)(chuan)(chuan)(chuan)(chuan)(chuan)(chuan)(chuan)(chuan)(chuan)(chuan)動(dong)(dong)(dong)(dong)(dong)(dong)(dong)(dong)(dong)(dong)(dong)關(guan)系(xi)(xi)或(huo)(huo)繩(sheng)(sheng)(sheng)輪(lun)(lun)(lun)(lun)(lun)傳(chuan)(chuan)(chuan)(chuan)(chuan)(chuan)(chuan)(chuan)(chuan)(chuan)(chuan)動(dong)(dong)(dong)(dong)(dong)(dong)(dong)(dong)(dong)(dong)(dong)關(guan)系(xi)(xi)，所(suo)(suo)(suo)(suo)述(shu)(shu)(shu)(shu)第(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)一(yi)(yi)(yi)(yi)(yi)(yi)(yi)傳(chuan)(chuan)(chuan)(chuan)(chuan)(chuan)(chuan)(chuan)(chuan)(chuan)(chuan)動(dong)(dong)(dong)(dong)(dong)(dong)(dong)(dong)(dong)(dong)(dong)件(jian)(jian)(jian)84呈(cheng)O形；所(suo)(suo)(suo)(suo)述(shu)(shu)(shu)(shu)第(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)二(er)(er)(er)(er)(er)傳(chuan)(chuan)(chuan)(chuan)(chuan)(chuan)(chuan)(chuan)(chuan)(chuan)(chuan)動(dong)(dong)(dong)(dong)(dong)(dong)(dong)(dong)(dong)(dong)(dong)件(jian)(jian)(jian)85連(lian)(lian)(lian)(lian)接(jie)(jie)(jie)第(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)二(er)(er)(er)(er)(er)傳(chuan)(chuan)(chuan)(chuan)(chuan)(chuan)(chuan)(chuan)(chuan)(chuan)(chuan)動(dong)(dong)(dong)(dong)(dong)(dong)(dong)(dong)(dong)(dong)(dong)輪(lun)(lun)(lun)(lun)(lun)82和第(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)三(san)(san)(san)(san)傳(chuan)(chuan)(chuan)(chuan)(chuan)(chuan)(chuan)(chuan)(chuan)(chuan)(chuan)動(dong)(dong)(dong)(dong)(dong)(dong)(dong)(dong)(dong)(dong)(dong)輪(lun)(lun)(lun)(lun)(lun)83，所(suo)(suo)(suo)(suo)述(shu)(shu)(shu)(shu)第(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)二(er)(er)(er)(er)(er)傳(chuan)(chuan)(chuan)(chuan)(chuan)(chuan)(chuan)(chuan)(chuan)(chuan)(chuan)動(dong)(dong)(dong)(dong)(dong)(dong)(dong)(dong)(dong)(dong)(dong)件(jian)(jian)(jian)85采(cai)用(yong)(yong)傳(chuan)(chuan)(chuan)(chuan)(chuan)(chuan)(chuan)(chuan)(chuan)(chuan)(chuan)動(dong)(dong)(dong)(dong)(dong)(dong)(dong)(dong)(dong)(dong)(dong)帶(dai)、鏈條或(huo)(huo)腱(jian)繩(sheng)(sheng)(sheng)，所(suo)(suo)(suo)(suo)述(shu)(shu)(shu)(shu)第(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)三(san)(san)(san)(san)傳(chuan)(chuan)(chuan)(chuan)(chuan)(chuan)(chuan)(chuan)(chuan)(chuan)(chuan)動(dong)(dong)(dong)(dong)(dong)(dong)(dong)(dong)(dong)(dong)(dong)輪(lun)(lun)(lun)(lun)(lun)83采(cai)用(yong)(yong)帶(dai)輪(lun)(lun)(lun)(lun)(lun)、鏈輪(lun)(lun)(lun)(lun)(lun)或(huo)(huo)繩(sheng)(sheng)(sheng)輪(lun)(lun)(lun)(lun)(lun)；所(suo)(suo)(suo)(suo)述(shu)(shu)(shu)(shu)第(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)二(er)(er)(er)(er)(er)傳(chuan)(chuan)(chuan)(chuan)(chuan)(chuan)(chuan)(chuan)(chuan)(chuan)(chuan)動(dong)(dong)(dong)(dong)(dong)(dong)(dong)(dong)(dong)(dong)(dong)件(jian)(jian)(jian)85、第(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)二(er)(er)(er)(er)(er)傳(chuan)(chuan)(chuan)(chuan)(chuan)(chuan)(chuan)(chuan)(chuan)(chuan)(chuan)動(dong)(dong)(dong)(dong)(dong)(dong)(dong)(dong)(dong)(dong)(dong)輪(lun)(lun)(lun)(lun)(lun)82和第(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)三(san)(san)(san)(san)傳(chuan)(chuan)(chuan)(chuan)(chuan)(chuan)(chuan)(chuan)(chuan)(chuan)(chuan)動(dong)(dong)(dong)(dong)(dong)(dong)(dong)(dong)(dong)(dong)(dong)輪(lun)(lun)(lun)(lun)(lun)83構成帶(dai)輪(lun)(lun)(lun)(lun)(lun)傳(chuan)(chuan)(chuan)(chuan)(chuan)(chuan)(chuan)(chuan)(chuan)(chuan)(chuan)動(dong)(dong)(dong)(dong)(dong)(dong)(dong)(dong)(dong)(dong)(dong)關(guan)系(xi)(xi)、鏈輪(lun)(lun)(lun)(lun)(lun)傳(chuan)(chuan)(chuan)(chuan)(chuan)(chuan)(chuan)(chuan)(chuan)(chuan)(chuan)動(dong)(dong)(dong)(dong)(dong)(dong)(dong)(dong)(dong)(dong)(dong)關(guan)系(xi)(xi)或(huo)(huo)繩(sheng)(sheng)(sheng)輪(lun)(lun)(lun)(lun)(lun)傳(chuan)(chuan)(chuan)(chuan)(chuan)(chuan)(chuan)(chuan)(chuan)(chuan)(chuan)動(dong)(dong)(dong)(dong)(dong)(dong)(dong)(dong)(dong)(dong)(dong)關(guan)系(xi)(xi)，所(suo)(suo)(suo)(suo)述(shu)(shu)(shu)(shu)第(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)二(er)(er)(er)(er)(er)傳(chuan)(chuan)(chuan)(chuan)(chuan)(chuan)(chuan)(chuan)(chuan)(chuan)(chuan)動(dong)(dong)(dong)(dong)(dong)(dong)(dong)(dong)(dong)(dong)(dong)件(jian)(jian)(jian)85呈(cheng)O形；設(she)第(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)一(yi)(yi)(yi)(yi)(yi)(yi)(yi)傳(chuan)(chuan)(chuan)(chuan)(chuan)(chuan)(chuan)(chuan)(chuan)(chuan)(chuan)動(dong)(dong)(dong)(dong)(dong)(dong)(dong)(dong)(dong)(dong)(dong)輪(lun)(lun)(lun)(lun)(lun)81到第(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)二(er)(er)(er)(er)(er)傳(chuan)(chuan)(chuan)(chuan)(chuan)(chuan)(chuan)(chuan)(chuan)(chuan)(chuan)動(dong)(dong)(dong)(dong)(dong)(dong)(dong)(dong)(dong)(dong)(dong)輪(lun)(lun)(lun)(lun)(lun)82的(de)(de)(de)(de)(de)(de)(de)傳(chuan)(chuan)(chuan)(chuan)(chuan)(chuan)(chuan)(chuan)(chuan)(chuan)(chuan)動(dong)(dong)(dong)(dong)(dong)(dong)(dong)(dong)(dong)(dong)(dong)比為(wei)i，第(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)二(er)(er)(er)(er)(er)傳(chuan)(chuan)(chuan)(chuan)(chuan)(chuan)(chuan)(chuan)(chuan)(chuan)(chuan)動(dong)(dong)(dong)(dong)(dong)(dong)(dong)(dong)(dong)(dong)(dong)輪(lun)(lun)(lun)(lun)(lun)82到第(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)三(san)(san)(san)(san)傳(chuan)(chuan)(chuan)(chuan)(chuan)(chuan)(chuan)(chuan)(chuan)(chuan)(chuan)動(dong)(dong)(dong)(dong)(dong)(dong)(dong)(dong)(dong)(dong)(dong)輪(lun)(lun)(lun)(lun)(lun)83的(de)(de)(de)(de)(de)(de)(de)傳(chuan)(chuan)(chuan)(chuan)(chuan)(chuan)(chuan)(chuan)(chuan)(chuan)(chuan)動(dong)(dong)(dong)(dong)(dong)(dong)(dong)(dong)(dong)(dong)(dong)比為(wei)j，ij＝1；設(she)第(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)一(yi)(yi)(yi)(yi)(yi)(yi)(yi)軸(zhou)(zhou)(zhou)(zhou)61的(de)(de)(de)(de)(de)(de)(de)中(zhong)(zhong)(zhong)心(xin)為(wei)點(dian)(dian)A，第(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)二(er)(er)(er)(er)(er)軸(zhou)(zhou)(zhou)(zhou)62的(de)(de)(de)(de)(de)(de)(de)中(zhong)(zhong)(zhong)心(xin)為(wei)點(dian)(dian)B，第(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)三(san)(san)(san)(san)軸(zhou)(zhou)(zhou)(zhou)63的(de)(de)(de)(de)(de)(de)(de)中(zhong)(zhong)(zhong)心(xin)為(wei)點(dian)(dian)C，第(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)四(si)(si)軸(zhou)(zhou)(zhou)(zhou)64的(de)(de)(de)(de)(de)(de)(de)中(zhong)(zhong)(zhong)心(xin)為(wei)點(dian)(dian)D，第(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)五(wu)軸(zhou)(zhou)(zhou)(zhou)65的(de)(de)(de)(de)(de)(de)(de)中(zhong)(zhong)(zhong)心(xin)為(wei)點(dian)(dian)E，線(xian)段(duan)(duan)BC的(de)(de)(de)(de)(de)(de)(de)長度(du)(du)、線(xian)段(duan)(duan)CD的(de)(de)(de)(de)(de)(de)(de)長度(du)(du)和線(xian)段(duan)(duan)CE的(de)(de)(de)(de)(de)(de)(de)長度(du)(du)三(san)(san)(san)(san)者相(xiang)等，線(xian)段(duan)(duan)AE的(de)(de)(de)(de)(de)(de)(de)長度(du)(du)等于(yu)線(xian)段(duan)(duan)AB的(de)(de)(de)(de)(de)(de)(de)長度(du)(du)的(de)(de)(de)(de)(de)(de)(de)2倍，線(xian)段(duan)(duan)CE的(de)(de)(de)(de)(de)(de)(de)長度(du)(du)是線(xian)段(duan)(duan)AB的(de)(de)(de)(de)(de)(de)(de)長度(du)(du)的(de)(de)(de)(de)(de)(de)(de)2.5倍。

在本實(shi)施例中(zhong)，第一(yi)傳(chuan)(chuan)動(dong)輪81到(dao)第二傳(chuan)(chuan)動(dong)輪82的(de)傳(chuan)(chuan)動(dong)比(bi)為1，第二傳(chuan)(chuan)動(dong)輪82到(dao)第三傳(chuan)(chuan)動(dong)輪83的(de)傳(chuan)(chuan)動(dong)比(bi)為1，故滿足ij＝1。

本實施例(li)中，兩個(ge)手指(zhi)布(bu)置在相對稱的位置。

本(ben)實施例中(zhong)，所(suo)述(shu)(shu)(shu)傳(chuan)動(dong)機構(gou)包括(kuo)第(di)(di)(di)一(yi)(yi)錐齒(chi)(chi)(chi)輪(lun)(lun)(lun)(lun)(lun)41、第(di)(di)(di)二錐齒(chi)(chi)(chi)輪(lun)(lun)(lun)(lun)(lun)42、過(guo)渡(du)(du)(du)軸43、第(di)(di)(di)一(yi)(yi)齒(chi)(chi)(chi)輪(lun)(lun)(lun)(lun)(lun)44、第(di)(di)(di)二齒(chi)(chi)(chi)輪(lun)(lun)(lun)(lun)(lun)45、第(di)(di)(di)一(yi)(yi)帶(dai)輪(lun)(lun)(lun)(lun)(lun)51、第(di)(di)(di)二帶(dai)輪(lun)(lun)(lun)(lun)(lun)52和(he)傳(chuan)動(dong)帶(dai)53；所(suo)述(shu)(shu)(shu)第(di)(di)(di)一(yi)(yi)錐齒(chi)(chi)(chi)輪(lun)(lun)(lun)(lun)(lun)41套(tao)固(gu)在減速器(qi)31的(de)(de)輸出軸上(shang)(shang)，所(suo)述(shu)(shu)(shu)第(di)(di)(di)一(yi)(yi)錐齒(chi)(chi)(chi)輪(lun)(lun)(lun)(lun)(lun)41與第(di)(di)(di)二錐齒(chi)(chi)(chi)輪(lun)(lun)(lun)(lun)(lun)42嚙(nie)合，所(suo)述(shu)(shu)(shu)第(di)(di)(di)二錐齒(chi)(chi)(chi)輪(lun)(lun)(lun)(lun)(lun)42套(tao)固(gu)在過(guo)渡(du)(du)(du)軸43上(shang)(shang)，所(suo)述(shu)(shu)(shu)過(guo)渡(du)(du)(du)軸43活(huo)動(dong)套(tao)設(she)在基座1中(zhong)，所(suo)述(shu)(shu)(shu)第(di)(di)(di)一(yi)(yi)齒(chi)(chi)(chi)輪(lun)(lun)(lun)(lun)(lun)44套(tao)固(gu)在過(guo)渡(du)(du)(du)軸43上(shang)(shang)，所(suo)述(shu)(shu)(shu)第(di)(di)(di)一(yi)(yi)齒(chi)(chi)(chi)輪(lun)(lun)(lun)(lun)(lun)44與第(di)(di)(di)二齒(chi)(chi)(chi)輪(lun)(lun)(lun)(lun)(lun)45嚙(nie)合，所(suo)述(shu)(shu)(shu)第(di)(di)(di)二齒(chi)(chi)(chi)輪(lun)(lun)(lun)(lun)(lun)45套(tao)固(gu)在一(yi)(yi)個(ge)(ge)手(shou)(shou)指單元(yuan)(yuan)(圖3中(zhong)左方的(de)(de)手(shou)(shou)指單元(yuan)(yuan))中(zhong)的(de)(de)第(di)(di)(di)一(yi)(yi)軸61上(shang)(shang)；所(suo)述(shu)(shu)(shu)第(di)(di)(di)一(yi)(yi)帶(dai)輪(lun)(lun)(lun)(lun)(lun)51套(tao)固(gu)在過(guo)渡(du)(du)(du)軸43上(shang)(shang)，所(suo)述(shu)(shu)(shu)第(di)(di)(di)二帶(dai)輪(lun)(lun)(lun)(lun)(lun)52套(tao)固(gu)在另一(yi)(yi)個(ge)(ge)手(shou)(shou)指單元(yuan)(yuan)(圖3中(zhong)右方的(de)(de)手(shou)(shou)指單元(yuan)(yuan))中(zhong)的(de)(de)第(di)(di)(di)一(yi)(yi)軸61上(shang)(shang)，所(suo)述(shu)(shu)(shu)傳(chuan)動(dong)帶(dai)53分別連(lian)接第(di)(di)(di)一(yi)(yi)帶(dai)輪(lun)(lun)(lun)(lun)(lun)51和(he)第(di)(di)(di)二帶(dai)輪(lun)(lun)(lun)(lun)(lun)52。

本實施例(li)的工作(zuo)原理，結合附圖敘(xu)述如下：

本(ben)實施(shi)例(li)的初(chu)始狀態(tai)如(ru)圖1、圖2或圖3所示。本(ben)實施(shi)例(li)中有兩個(ge)結(jie)構相同(tong)的手(shou)指單元2，以(yi)圖2中右邊(bian)的一個(ge)手(shou)指單元2為例(li)說明工作原理(li)。

電機3正向轉(zhuan)動(dong)，如圖3所示，通(tong)過減速器31，帶(dai)動(dong)了第一(yi)錐(zhui)(zhui)齒輪(lun)41轉(zhuan)動(dong)，第二錐(zhui)(zhui)齒輪(lun)42轉(zhuan)動(dong)，過渡軸43轉(zhuan)動(dong)，第一(yi)帶(dai)輪(lun)51轉(zhuan)動(dong)，通(tong)過傳動(dong)帶(dai)53使得第二帶(dai)輪(lun)52轉(zhuan)動(dong)，圖3中(zhong)右方(fang)(fang)(fang)的(de)手指單元(yuan)2中(zhong)的(de)第一(yi)軸61轉(zhuan)動(dong)，帶(dai)動(dong)第一(yi)連(lian)桿(gan)(gan)71逆(ni)時針轉(zhuan)動(dong)；由于(yu)第一(yi)連(lian)桿(gan)(gan)71、第二連(lian)桿(gan)(gan)72和第三連(lian)桿(gan)(gan)73與基座構成的(de)四(si)連(lian)桿(gan)(gan)機構會產生如圖5所示的(de)動(dong)作(zuo)原理(li)，即當第一(yi)連(lian)桿(gan)(gan)71從最(zui)上方(fang)(fang)(fang)逆(ni)時針轉(zhuan)動(dong)到(dao)最(zui)下方(fang)(fang)(fang)的(de)過程中(zhong)，第四(si)軸64的(de)中(zhong)心點D會沿(yan)著近似直線(xian)(xian)向左平移，該平移軌跡(ji)線(xian)(xian)平行(xing)于(yu)線(xian)(xian)段AE，在圖5中(zhong)為水平線(xian)(xian)。

由于從第(di)(di)(di)(di)一傳動(dong)(dong)輪(lun)(lun)(lun)81經過第(di)(di)(di)(di)一傳動(dong)(dong)件84、第(di)(di)(di)(di)二(er)傳動(dong)(dong)輪(lun)(lun)(lun)82、第(di)(di)(di)(di)二(er)傳動(dong)(dong)件85到(dao)第(di)(di)(di)(di)三傳動(dong)(dong)輪(lun)(lun)(lun)83的(de)傳動(dong)(dong)為等速傳動(dong)(dong)，且第(di)(di)(di)(di)一傳動(dong)(dong)輪(lun)(lun)(lun)81與基(ji)座(zuo)1固接，因(yin)而第(di)(di)(di)(di)三傳動(dong)(dong)輪(lun)(lun)(lun)83相(xiang)對(dui)于基(ji)座(zuo)1始(shi)終(zhong)保持(chi)不變的(de)姿態——不會相(xiang)對(dui)基(ji)座(zuo)1轉(zhuan)動(dong)(dong)，因(yin)而與第(di)(di)(di)(di)三傳動(dong)(dong)輪(lun)(lun)(lun)83固接的(de)第(di)(di)(di)(di)二(er)指段22也(ye)就相(xiang)對(dui)于基(ji)座(zuo)1始(shi)終(zhong)保持(chi)初始(shi)的(de)姿態。

綜合上述(shu)兩(liang)方(fang)面，第(di)(di)二(er)指段22將相(xiang)對于基座1沿著(zhu)近(jin)似(si)直線平(ping)(ping)動。所述(shu)支撐連桿帶輪傳動直線平(ping)(ping)動機器(qi)人手裝置中(zhong)的(de)兩(liang)個手指單(dan)元2為對稱(cheng)布(bu)置，兩(liang)個對稱(cheng)的(de)手指單(dan)元中(zhong)的(de)第(di)(di)二(er)指段22會沿著(zhu)近(jin)似(si)水(shui)平(ping)(ping)線的(de)方(fang)向相(xiang)對運動，達(da)到(dao)對中(zhong)抓取、平(ping)(ping)行(xing)夾(jia)持抓取和沿著(zhu)近(jin)似(si)直線運動的(de)效果(guo)，當第(di)(di)二(er)指段22接觸物體(ti)9時(shi)，抓取結(jie)束，達(da)到(dao)了平(ping)(ping)夾(jia)抓取效果(guo)。

本實(shi)施例抓取物體的過程示意圖如圖6至圖8所(suo)示。

釋(shi)放(fang)(fang)物體(ti)9時(shi)，電機3反向轉(zhuan)(zhuan)動，如圖2所(suo)示，第一連(lian)桿71順時(shi)針(zhen)轉(zhuan)(zhuan)動，第二指段22向右(you)沿近似直線平動離開物體(ti)9，達到釋(shi)放(fang)(fang)物體(ti)。

本(ben)發明裝(zhuang)置利(li)用(yong)(yong)電機(ji)(ji)、連桿傳動(dong)機(ji)(ji)構(gou)、帶(dai)輪傳動(dong)機(ji)(ji)構(gou)等綜合實現(xian)了沿著近(jin)似(si)水平直線(xian)平行夾(jia)持的(de)(de)(de)抓取(qu)效(xiao)果(guo)，末端指段在(zai)手(shou)指開(kai)合的(de)(de)(de)過程中(zhong)幾乎不發生高(gao)度方向的(de)(de)(de)位移，對中(zhong)抓取(qu)，開(kai)合抓取(qu)時大(da)幅度減少機(ji)(ji)器人臂部關節(jie)的(de)(de)(de)配(pei)合，抓取(qu)范圍大(da)，抓取(qu)穩定可靠；該裝(zhuang)置結構(gou)簡單、體積(ji)小(xiao)、重量輕，加工、裝(zhuang)配(pei)和維修成本(ben)低，適(shi)用(yong)(yong)于(yu)安裝(zhuang)在(zai)機(ji)(ji)器人上作為末端夾(jia)持器使用(yong)(yong)。