关键词: 多关节, 非完整约束, 机构, 机械手, 开链

Abstract: A new type of single input and two outputs nonholonomic transmissions mechanism are proposed based on the nonholonomic theory and nonlinear control principle. An application of manipulator is described with the nonholonomic transmissions mechanism in place. The kinematics analysis result shows that the structure is simple, the weight is low, and the control is easy for the manipulator which is controlled only by two actuates. This design gives a new method for the design and research of light-weight robot and multi-finger robot hand.

Key words: Manipulator, Multi-joint, Opened-chain, Mechanism, Nonhlonomic constraints