文章摘要
高文杰,李小霞.卫生陶瓷施釉机器人动力学分析[J].机床与液压,2018,46(9):86-88
卫生陶瓷施釉机器人动力学分析
Dynamics Analysis for Sanitary Ceramics Glazing Robot
  
DOI:10.3969/j.issn.1001-3881.2018.09.020
中文关键词: 卫生陶瓷  机器人  动力学  仿真
英文关键词: Sanitary ceramics  Robot  Dynamics  Simulation
基金项目:
作者单位E-mail
高文杰 景德镇陶瓷大学机电学院 gaowenjie@126.com 
李小霞 景德镇陶瓷大学机电学院  
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中文摘要:
      为了提高卫生陶瓷机器人系统的稳定性,采用牛顿-欧拉方法建立了6自由度施釉机器人动力学模型,研究了终端效应器载荷变化对各关节力矩的影响。仿真结果表明:终端效应器载荷大小和方向的变化,对腰部、肩部和肘部3个关节的力矩影响很小, 其力矩主要由机器人本身结构决定;终端效应器载荷大小和方向的变化对腕部3个关节的力矩影响较大,当载荷方向与操作臂重力方向相反时关节力矩变小。
英文摘要:
      A dynamics model of a Six Degree of Freedom (6-DOF) sanitary ceramics glazing robot by using Newton-Euler method is established in order to improve the robot’s system stability.The influence of the end effector’s varied loading on moment of all articulated joints of a glazing robot was researched. The result of simulation shows changes of the end effector’s loading values and directions influence substantially on moment of three wrist joints, but influence slightly moment of the shoulder joint, the loin joint and the elbow joint. Moment of the shoulder joint, the loin joint and the elbow joint mostly depend on their own architecture. When the end effector’s loading is opposite direction of gravity, moment of wrist joint is reduced.
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