摘要
针对装配操作机器人的传动机构,首先对机器人技术特征要求、整体结构特性进行分析,得出满足装配操作机器人传动机构特性的结构;GZ-1型装配机器人设计为串联结构,并且将小车机构做成单独组件形式,在保证结构强度和安全的前提下减轻了传动部件的质量。针对传动部件装配结构设计,对小车机构特性、尤其对其中的主要零件及关联关系进行了传动及受力分析,通过得出的受力位置-力矩关系修正曲线,实现对传动机构的优化设计、使系统控制更加方便;针对传动机构不同工作状态下的参数与特性,得到优化的传动部件装配结构,以解决小车部件的装配问题。
The paper mainly studies the transmission mechanism of assembly robot. A structure that matches the characteristics of the transmission mechanism of assembly robots is obtained based on analyzing requirements of technical features of the robots and their overall structural characteristics. GZ-1 assembly robot is of serial structure, and its trolley mechanism is designed as a separate component, which reduces the weight of transmission parts without compromising the structural strength and safety. Considering the design of the assembly structure of structural strength, the paper performs transmission and stress analyses on the characteristics of the pulley mechanism, especially its main parts and correlation, resulting in the relation correction curve between the stressed position and torque, optimizing the design of the transmission mechanism and simplifying the system control. Assembly structure of the optimized transmission parts is obtained on the basis of parameters and characteristics of the transmission mechanism under different working status, which solves the problems in trolley assembly.
出处
《起重运输机械》
2017年第8期13-17,共5页
Hoisting and Conveying Machinery
基金
国家自然基金项目"面向方案设计的产品宏-微特征与碳排放关联建模及碳效益"(51675314)
山东省研究生教育创新计划项目"机械工程类学术学位研究生科研实践能力培养研究与实践"(SDYY14078)
关键词
串联机构
结构设计
特性分析
传动
serial mechanism
structure design
characteristic analysis
transmission
