摘要
本文用微分变换和虚功原理的方法,讨论机器人坐标系之间力和力矩的变换,从而研究机器人静态关节力、力矩的确定,以及机器人末端执行器所夹持目标质量的确定。机器人稳态负荷的研究,是机器人智能化的一个课题。同时也是合理设计机器人结构、合理选择控制方法、合理选择驱动元件、合理进行机器人静动分析的重要课题。
This paper discusses the transformation of forces and torques between coordinates using the methods of differential transformation and principle of virtual work. After that, we studied the determination of static joint torques and target mass grasped by the end-effector of a robot. The sutdy of static load of robot is an intellectual problem of robot. At the same time this study is also an important problem in reasonably designing the machine structure, Sclecting the control methods and driving unit and analysing the static - dynamic state of a machine. Fig4 Tabl Ref2
出处
《机械设计》
CSCD
北大核心
1991年第3期3-7,F003,共6页
Journal of Machine Design
