摘要
本文阐述了电机传动的机械手的研究方法,建立了机械手模型;在机械系统中引入了弹性元件及反馈控制系统,并在考虑机械系统和传动电机相互影响的基础上研究了机械手的动力学问题。
Concerning the mutual influence between the motorand machine, this paper presents a resonance manipulator model,analyses its motion law and deals with its some dynamicproblems such as the existence condition of the position solutionof the output link, the stability of the system, the dynamicanalysis and the mechanism systhesis.
