| 摘要 |
A sensor-based hand joint of an industrial robot manipulator includes a housing, first and second information units of a sensing device, an actuator of movement and capture. The first information unit of sensing device has an internal flange. Elastic elements are provided with strain gauges. The second information unit of sensing device comprises a sensing outer ring. It additionally comprises an adaptation unit (AU) with a composite body, which hosts a compliance mechanism and a fixing position mechanism. The split housing of AU comprises a front cover, which is connected to the rear cover. The compliance mechanism comprises a compensator of linear errors, which body hosts a compensator of angular errors containing an AU spindle. In the bore of compensator of angular error a piston is located. The compensator of linear errors and compensator angular errors contain AU elastic elements. |
