论文部分内容阅读
设计了一种机器人旋转关节驱动装置,其特点是将螺旋传动机构和曲柄滑块机构进行了有机结合。借助Solid Works软件,完成了旋转关节的三维建模;基于运动分析,建立了旋转关节的运动数学模型,得到了末端执行机构的旋转范围;分析关节末端理论输出力矩和其旋转角的关系,从而进一步验证了参数设计的合理性;实现样机制作,结合所设计的旋转关节提出了一种角度传感方案,搭建了一种旋转关节装置的电气试验平台。试验结果表明,该旋转关节的运动范围较大,机械传动效果良好,而且结构简单,容易实现精确控制。
A robot rotary joint drive was designed, which is characterized by an organic combination of a screw drive and a crank-slider mechanism. Based on the motion analysis, the mathematical model of the rotation joint was established, the rotation range of the end effector was obtained, and the relationship between the theoretical output torque of the joint end and its rotation angle was analyzed. Further verify the rationality of parameter design; to achieve prototype production, combined with the design of a rotating joint angle sensing program to build a rotary joint device of the electrical test platform. The experimental results show that the rotary joint has a large range of motion, good mechanical transmission effect, simple structure and easy control.