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根据6自由度上肢康复机器人线管钢丝绳传动系统中活动区域套管挠度变化较大的特点,建立线管钢丝绳传动静力模型,分析套管与钢丝绳间相互作用关系,研究套管钢丝绳传力特性。通过有限元法对套管钢丝绳传力特性的直接影响因素之一——套管传动空间位姿进行分析,提出了线管钢丝绳传动的布线方式,并给出了一种确定钢丝绳套管各近似圆弧段对应圆心角之和的方法。
According to the characteristic that the casing deflection in the active area of the 6-DOF rehabilitation robot’s wire-rope transmission system is large, the static model of the wire-rope transmission is established and the interaction between the casing and the wire rope is analyzed. . By means of finite element method, one of the direct influence factors on the force transmission characteristics of casing steel wire rope, the position and orientation of casing transmission is analyzed. The wiring way of wire rope transmission is put forward. Arc segment corresponding to the sum of central angle method.