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本文对我校机器人研究中心研制的JGF防爆装配机器人进行了运动学、动力学和机械力学研究,将机械系统结构参数和运动学参数(可计算与不可计算参数)与广义力(惯性力(矩)、弹性力(矩)、阻尼力(矩)、重力和外力(矩)联系在一起,并通过振动实验模态识别方法求得不可计算参数,从系统角度计算和优选驱动部件——执行元件和机械结构的设计参数,使机械参数与电控参数达到最佳匹配。通过实例计算机辅助分析证明该方法是可行的,从而为高速高稳定性机器人的机电一体化参数设计提供了有效方法。
In this paper, kinematics, dynamics and mechanical mechanics of JGF explosion-proof assembly robot developed by Robotics Research Center in our university are studied. The mechanical system structural parameters and kinematic parameters (calculable and uncalculable parameters) and generalized force (moment of inertia ), Elastic force (moment), damping force (moment), gravity and external force (moment), and calculate the uncalculable parameters through the vibration experiment modal identification method. From the system point of view, calculate and optimize the drive components - actuator And the design parameters of the mechanical structure to make the best match between the mechanical parameters and the electronically controlled parameters.An example of computer-aided analysis shows that the method is feasible, which provides an effective method for the mechatronic parameter design of high-speed and high-stability robots.