水火弯板机器人机械手伺服驱动系统设计与研究

The design and research of manipulator servo driving system fixing the robot of bendingby line heating

利用线性段及抛物线混合轨迹的轨迹规划方法,结合机器人的典型关节的实际使用特点,分析并计算了机械手的运动规划参数,然后根据轨迹规划中的直线加速度特性,计算了驱动电机的参数,分析驱动电机的相关的典型特性并合理选择了驱动电机的型号,为控制系统的优化设计提供了参考。

Using the method of locus programming blending linear and parabola segment, integratingthe using characteristic of typical joint with robot, the passage analyses and calculate the movementprogramming parameter of manipulator, then according to the characteristic of line acceleration inlocus programming; it caculates the motor parameters and analyses relative typical characteristic ofdriving motor, providing the reference for the optimal design of control system.