扭转弹簧在机器人自平衡设计中的创新应用

Articulated Robot Teaching Institutions Balanced Design and Optimization

机器人在运动时受力是很复杂的,如果同时再考虑工作时臂杆和关节的变形便更复杂了。针对示教机构并不应用于实际的生产中,而且不用考虑机构运动过程中的弹性变形、惯性力等性能,因此设计出了结构简单的轻质连杆来代替实际机器人的各构件。示教机构的设计原则是保留实际机器人的自由度数、机构尺寸和工作空间,其余部分进行简化。示教机构自身重量的平衡与否对测量精度没有直接的影响,但能影响人机效应,使操作员操作起来轻便,不易疲劳。因此本文设计将利用扭转弹簧平衡法和增加端面对关节型机器人臂杆进行重力平衡,各关节无驱动电机和减速器,仅有编码器测量关节角度,在结构上用简单结构的轻质连杆连接于各关节之间。

Force when the robot is in motion is very complicated,if also consider joint working arm and the deformation will be more complicated.Teaching institution is not used for actual production,but not considered in the process of movement of the elastic deformation,inertia and other properties,so designed a simple,light bar to replace the actual robot＇s various components.The design principles of teaching institutions is to retain the actual degrees of freedom robot,body size and work space,and the rest can be simplified.Teaching institution or the balance of its own weight on the measurement accuracy is not directly affected,but can affect the human effects of the operator to operate light and easy fatigue.This article will use the torsion spring design and increase the side face of the balance method articulated robot arm to balance gravity,the joint-free drive motor and reducer,only joint angle encoder measurement,the structure of light even with a simple structure rod connected between each joint.Articulated robot teaching institutions Balanced design and optimization