应用超声电机的多关节机器人的设计与分析

Design and Analysis of Multiple Joint Robotic Arm Powered by Ultrasonic Motors

主要设计了一个由超声电机驱动多关节机器人手臂。这种电机单位质量的转矩高,在低速下有大转矩输出,且不产生电磁干扰。利用ADAM S软件平台模拟机构的运动学和动力学,整体性能预测,结构模型优化,利用仿真结果重新设计手臂结构,为物理样机设计制造提供依据。

This paper mainly describes designing multiple joint robotic arm powered by ultrasonic motors.The motors have high torque per unit weight,generate an high torque output at low speed,and generate negligible electromagnetic interference.The whole performance of the robotic arm is predicted,and the structure model is optimized by using ADAMS software.The redesign of the arm structure is done according to the simulation results,which provides the data for the physics prototype structure.