摘要
机器人的机械臂设计对机器人的操作性能具有决定性的影响,本文运用质量平衡原理,利用关节驱动电机自身的质量对自行研制的YJP-1型双臂冗余度机器人的操作臂进行了优化设计,实验结果表明,该设计方法对减小机械臂动力系统的耦合惯量影响,减轻驱动电机负载具有良好的效果。
The design of the manipulator of robot has very important influence to the performance of robot. In this paper, the author have done the optimized design for the manipulator of the YJP-1 type robot, using the theory of quality balance , utilizing the quality of driving electromotor. The result of experiment has indicated that the design has reduced the coupling influence and loading torque effectively.
出处
《制造业自动化》
2001年第10期42-43,47,共3页
Manufacturing Automation
基金
国家计委211工程资助项目(2102002001)
