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提出了一种新颖的检测仪传动机构。这种传动机构源于 Minnesota机器人的传动机构 ,具有传动误差小 ,机构形式简单 ,运动速度快的优点。这种传动机构还能自身实现惯性力的平衡。为了得到惯性力平衡的条件 ,首先 ,机构的质心位置坐标表示成两个输入关节角的函数 ,然后 ,由质心应位于坐标系原点这个要求 ,得到机构惯性力平衡的两个条件。最后 ,给出了机构运动大臂长度和运动小臂长度的计算机仿真结果。
A novel detector transmission mechanism is proposed. This drive mechanism from the Minnesota robot drive mechanism, with a small transmission error, the simple form of institutions, the advantages of fast moving speed. This kind of transmission mechanism can also realize the balance of inertia force by itself. In order to get the equilibrium condition of inertia force, firstly, the position of centroid of the mechanism is expressed as a function of two input joint angles. Then, the two conditions that balance the moment of inertia of the mechanism are obtained by the requirement that the centroid should be located at the origin of the coordinate system. Finally, computer simulation results of the arm length and arm length of the mechanism movement are given.