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以理论计算为基础,结合实际工厂中使用的经验数据,针对机器人行走机构出现的爬行现象,对机器人行走机构导轨摩擦因数的设定进行校核论述并对其驱动组件结构进行了设计改进。以现代工业中常用的典型机器人行走机构为例,概述其基本结构,针对其实际应用中出现的爬行现象,将理论上的反推法与实际应用中的示教再现法相辅使用,完成了重型机器人行走机构导轨摩擦因数的重新校核,推导出参考经验值,并完成其驱动系统结构上的设计改进。
Based on the theoretical calculation and the empirical data used in the actual plant, aiming at the creeping phenomenon of the robot traveling mechanism, the setting of the friction coefficient of the robot walking mechanism is verified and the structure of the driving module is designed and improved. Taking the typical robotic walking mechanism commonly used in modern industry as an example, the basic structure of the robot is summarized. In view of the creeping phenomenon in practical application, the theoretical backstepping method is used in combination with the teaching method in practice to complete the heavy duty The re-checking of the friction coefficient of the guide rail of the robot’s walking mechanism deduces the reference experience value and completes the structural design improvement of the driving system.