摘要
进行了柔性协调操作机器人的动力特性分析 ,给出了协调操作柔性机器人各杆的动应力的计算方法 ,分析了其与机构构件动应力计算方法的不同 ,并对两 3R柔性机器人协调操作一刚性负载系统进行数值仿真 ,计算了各杆始端、中点和末端的动应力以及每杆最大瞬时动应力和末端位置、转角误差 ,分析了所得结果。
The study of cooperating flexible robots has great significance.Most of the literatures about flexible robots are on kinematic precision such as position error and angular error. The dynamic properties of such system were not analyzed. In this paper,the dynamic properties of cooperating flexible robots are analyzed and the method of how to calculate its dynamic stress is proposed.The difference between mechanisms and robots dynamic stress calculation is given.Numeric simulation of two 3R flexible robots manipulating a rigid payload is illustrated at last and its results show this method is feasible.
出处
《机械设计与研究》
CSCD
2004年第1期25-28,共4页
Machine Design And Research
基金
国家自然科学基金资助项目 (5 0 3 75 0 0 3 )
北京市自然科学基金资助项目 (3 0 12 0 0 3 )
