摘要
本文依据化工容器焊接机械手的结构特点,建立机械手的动力学模型,根据达朗伯尔原理计算机械手各传动机构及机械手开式运动链机构的惯性力、外力并确定各运动副处的动反力的递推公式,分析机械手驱动电机的输出力矩和功率。
According to the structural characteristics of the welding robot for vessel for chemical industry a dynamic model of the robot is established . The inertial forces and reaction forces in the knematic pairs of the robot are determined on D'Alembert's principle and their calculation equations are derived. Then the driving torques and powers of its actuators are analyzed
出处
《北京石油化工学院学报》
1993年第2期4-11,共8页
Journal of Beijing Institute of Petrochemical Technology
