一种新的检测仪传动机构的设计

On Design of a New Kind of Transmission Mechanism

提出了一种新颖的检测仪传动机构。这种传动机构源于 Minnesota机器人的传动机构 ,具有传动误差小 ,机构形式简单 ,运动速度快的优点。这种传动机构还能自身实现惯性力的平衡。为了得到惯性力平衡的条件 ,首先 ,机构的质心位置坐标表示成两个输入关节角的函数 ,然后 ,由质心应位于坐标系原点这个要求 ,得到机构惯性力平衡的两个条件。最后 ,给出了机构运动大臂长度和运动小臂长度的计算机仿真结果。

A new transmission mechanism based on Minnesota direct drive robot is presented in this paper. This type of transmission mechanism can be used in machines such as measure instrument. Without any counter weights, the mechanism is constructed for static balance. In order to obtain the balancing conditions, the position vector of the center of mass is expressed as the functions of joint angles. Then, the conditions for static balancing are obtained from the functions. In addition, two design requirements which must be satisfied are obtained.