| 机器人手臂新结构及其动力学和平衡问题的研究 |
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| 引用本文： | 何允纪,奚方.机器人手臂新结构及其动力学和平衡问题的研究[J].江苏大学学报(自然科学版),1993(1). |
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| 作者姓名： | 何允纪 奚方 |
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| 作者单位： | 江苏工学院机械工程系
(何允纪)，无锡柴油机厂(奚方) |
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| 摘 要： | 本文提出一种机器人手臂新结构——“卡当”等效机构,分析推导了新的运动学和动力学方程,研究了重力平衡的方法和效果。分析研究表明,操作手手臂的重力力矩可以完全消除。这不仅有利于减小驱动力矩。也有利于操作手性能的提高。
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| 关 键 词： | 操作装置 平衡 机器人 坐标系 运动学 机构动力分析 |
A New Robotic Arm Structure and Its Dynamic and Balancing Problem |
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| He Yunji Xi Fang.A New Robotic Arm Structure and Its Dynamic and Balancing Problem[J].Journal of Jiangsu University:Natural Science Edition,1993(1). |
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| Authors: | He Yunji Xi Fang |
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| Institution: | He Yunji Xi Fang |
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| Abstract: | A new robotic arm structure-"Caradan" mechanism is presented. The kinematic and dynamic equations are established, the method and results of weight balacing are studied. It is shown that the weight torques of manipulator may be completely removed with the balance of manipulator, thus faciliating not only to reduce the power of drivers but also to improve the performance of manipulators. |
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| Keywords: | manipulators balance robots coordinate system kinematics dynamic analysis of mechanism |
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