自动换刀机械手静力与动力学分析

Static and Dynamic Analysis of Automatic Tool Changer

自动换刀机械手首要解决的就是换刀时运动的准确性,但是机械手的工作过程既涉及静态过程,又涉及其动态过程,关节机械手在研发中既要解决空间位姿问题,又要分析计算关节的驱动力,力矩及速度,加速度等,以完成机械手动作的实时控制.本文对换刀机械手进行了静力和动力学分析,为实现其自动控制打下基础.

The main problem of the automatic tool changing manipulator is the accuracy of the motion when changing the knife. The working process of manipulator involves both the static process andthe dynamic process. In theprocess of researchingjoint manipulator, it is necessaryto solve the problem of space pose, drive force, torque and speed, acceleration, etc., to complete the action of the robot control in real time. In this paper, the static and dynamic analysis of the manipulator is carriedout, which lays the foundation for its automatic control.