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以物理人机交互安全为背景,提出了基于串联离合驱动的安全机械手静力学分析方法。以末端执行器为参考点经过一系列推导得到关节限制力矩和最大各向同性力及最大接触力之间的关系及运算步骤,并以最大各向同性力与最大接触力的比值作为安全性能指标,应用于冗余机械手运动学中以优化机械手的操作性能。将末端执行器表面网格化,以平行四边形单元为研究对象推导得到单元上最大接触力的表达式。最后通过数值实例验证上述两种静力学分析方法的一致性、简便性和有效性,为根据机器人结构位形对力矩限制器进行标定提供了控制理论基础。
In the background of physical-human-computer interaction safety, a safety manipulator static analysis method based on tandem clutch driving is proposed. Taking the end effector as a reference point, a series of derivations are made to derive the relationship and operation steps between the joint restraining moment, the maximum isotropic force and the maximum contact force, and the ratio of the maximum isotropic force to the maximum contact force is taken as the safety performance index , Used in redundant robot kinematics to optimize manipulator performance. The surface of the end effector is meshed, and the expression of the maximum contact force on the element is derived by taking the parallelogram element as the research object. Finally, numerical examples are used to verify the consistency, simplicity and validity of the above two statics analysis methods, and provide the theoretical basis for the control of the torque limiter based on the configuration of the robot.