{"action":"created","issue":{"url":"https://api.github.com/repos/MICF-JI204/SocMain/issues/54","labels_url":"https://api.github.com/repos/MICF-JI204/SocMain/issues/54/labels{/name}","comments_url":"https://api.github.com/repos/MICF-JI204/SocMain/issues/54/comments","events_url":"https://api.github.com/repos/MICF-JI204/SocMain/issues/54/events","html_url":"https://github.com/MICF-JI204/SocMain/issues/54","id":65056915,"number":54,"title":"机械手分析·改","user":{"login":"smice","id":11556838,"avatar_url":"https://avatars.githubusercontent.com/u/11556838?v=3","gravatar_id":"","url":"https://api.github.com/users/smice","html_url":"https://github.com/smice","followers_url":"https://api.github.com/users/smice/followers","following_url":"https://api.github.com/users/smice/following{/other_user}","gists_url":"https://api.github.com/users/smice/gists{/gist_id}","starred_url":"https://api.github.com/users/smice/starred{/owner}{/repo}","subscriptions_url":"https://api.github.com/users/smice/subscriptions","organizations_url":"https://api.github.com/users/smice/orgs","repos_url":"https://api.github.com/users/smice/repos","events_url":"https://api.github.com/users/smice/events{/privacy}","received_events_url":"https://api.github.com/users/smice/received_events","type":"User","site_admin":false},"labels":[],"state":"open","locked":false,"assignee":null,"milestone":null,"comments":3,"created_at":"2015-03-29T12:47:43Z","updated_at":"2015-03-30T11:02:06Z","closed_at":null,"body":"在宜修上一篇机械手分析的基础上的确定设计。\r\n\r\n那篇一共讲了6个自由度。我们把它精简成了3个，分别为：机械臂和车体的连接-上下摆动；机械臂和机械手的连接-左右转动；爪子的开合。\r\n\r\n材料我们打算采取的是亚克力板。\r\n\r\n下图为整个机械臂+机械手的侧视图\r\n![1427630028403](https://cloud.githubusercontent.com/assets/11556838/6885483/b2ae8b84-d654-11e4-8994-03e763906231.jpg)\r\n下图为从上往下看的俯视图\r\n![1427630698934](https://cloud.githubusercontent.com/assets/11556838/6885488/c5477d3c-d654-11e4-8d3d-0817012e9b9c.jpg)\r\n\r\n分解图：\r\n\r\n手肘：\r\n![1427631477750](https://cloud.githubusercontent.com/assets/11556838/6885490/e39356da-d654-11e4-9c82-01942d275d65.jpg)\r\n\r\n手腕：\r\n![1427632120051](https://cloud.githubusercontent.com/assets/11556838/6885508/43daf3fe-d655-11e4-9b57-74df8fd621ff.jpg)\r\n\r\n\r\n以及手腕和手臂的之间有垂直连接，现拟采用角片的刚性连接。\r\n角片应该是很牢固的，淘宝上很多，我们还没有特定哪个好的比较过。\r\n\r\n然后，一些出现的问题解答：\r\n1、有关父issue里面对卡死在墙角，普通机械手无能为力的问题，是可以用皮条粘在外侧拨出来就可以了，亲测有效。\r\n2、有关只有三个自由度，当夹取地面物体时会指尖朝下斜着夹，是否可以依然夹取一个，上面叠一个的类型，亲测可以。\r\n3、有关夹取地面木块时，手腕转动，导致两片爪子一高一低诡异的倾斜（就是爪子的平面不和木块几个面的三个平面的任意一个平行），但是不影响抓取（试过了，但是一次抓两个就估计不行），特别是我们还要在爪子内侧加软性材料。\r\n\r\nthat's all.\r\n\r\n"},"comment":{"url":"https://api.github.com/repos/MICF-JI204/SocMain/issues/comments/87635608","html_url":"https://github.com/MICF-JI204/SocMain/issues/54#issuecomment-87635608","issue_url":"https://api.github.com/repos/MICF-JI204/SocMain/issues/54","id":87635608,"user":{"login":"smice","id":11556838,"avatar_url":"https://avatars.githubusercontent.com/u/11556838?v=3","gravatar_id":"","url":"https://api.github.com/users/smice","html_url":"https://github.com/smice","followers_url":"https://api.github.com/users/smice/followers","following_url":"https://api.github.com/users/smice/following{/other_user}","gists_url":"https://api.github.com/users/smice/gists{/gist_id}","starred_url":"https://api.github.com/users/smice/starred{/owner}{/repo}","subscriptions_url":"https://api.github.com/users/smice/subscriptions","organizations_url":"https://api.github.com/users/smice/orgs","repos_url":"https://api.github.com/users/smice/repos","events_url":"https://api.github.com/users/smice/events{/privacy}","received_events_url":"https://api.github.com/users/smice/received_events","type":"User","site_admin":false},"created_at":"2015-03-30T11:02:06Z","updated_at":"2015-03-30T11:02:06Z","body":"@Heim12 我确定我写的是巧克力、。。。"}}