摘要
本文对工业机器人的气缸活塞平衡系统进行了分析,建立了一个实用而有效的气缸活塞平衡系统的优化设计方法.成功地研制了一平衡系统优化设计软件及较为直观的平衡效果显示系统.实际运算表明,对平衡系统的安装尺寸及卸荷装置的参数进行优化,可明显减少驱动力矩的幅值及其波动.
In this paper, based on theoretical analysis an efficient and practical optimal design method of industrial robotpiston balancing system is developed and a succesful optimal design software is created, which contains a threedimensional intuitive showing system of balancing results. As shown by our results the optimal balancing systemparameters are slightly changed but the fluctuations and the maximum values of unbalancing torques are greatlyreduced.
出处
《机器人》
EI
CSCD
北大核心
1990年第3期30-35,共6页
Robot
关键词
工业机器人
气缸
活塞
平衡系统
balancing system
balancing torque
unbalancing torque
gravity torque
