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本文用微分变换和虚功原理的方法,讨论机器人坐标系之间力和力矩的变换,从而研究机器人静态关节力、力矩的确定,以及机器人末端执行器所夹持目标质量的确定。机器人稳态负荷的研究,是机器人智能化的一个课题。同时也是合理设计机器人结构、合理选择控制方法、合理选择驱动元件、合理进行机器人静动分析的重要课题。图4表1参2
In this paper, we use the method of differential transformation and virtual work principle to discuss the transformation of the force and moment between the robot coordinate system, so as to study the determination of the static joint force and moment of the robot and the target quality of the robot end effector. The study of robot steady-state load is a topic of robotic intelligence. At the same time, it is also an important issue to reasonably design the robot structure, reasonably choose the control method, reasonably select the driving components and reasonably conduct the analysis of the robot’s static and dynamic behavior. Figure 4 Table 1 reference 2