斜交非球型3R手腕的诱导运动分析与仿真

Induced motion analysis and simulation on skew intersecting non-spherical typed 3R wrist

对6R串联型喷涂机器人斜交非球型手腕的诱导运动进行了详细的理论分析,找出了诱导运动对手腕运动学和动力学性能的影响规律,重点探讨了诱导运动对驱动电机造成的负载叠加现象,并用ADAMS软件进行了动力学仿真,最后选定手腕的3个驱动电机。该方法对具有诱导运动的机械结构动力系统设计具有重要的指导意义。

Abstract： A detailed theoretical analysis on the induced mo- tion of oblique crossing non-spherical typed wrist of the 6R series typed spraying robot has been carried out. The influencing rule of the induced motion on the kinematics and dynamics properties of wrist was found out. The loading superposition phenomena caused by the induced motion on the driving motor was emphatically discussed, and by the use of ADAMS software the dynamics simulation has been carried out and finally three driving motors of wrist were selected. This method provided important guiding significance for the power system design of mechanical structures that possessing induced motions.