| 串联机器人诱导运动的分析和研究 |
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| 引用本文： | 林义忠,黄玉美,程祥.串联机器人诱导运动的分析和研究[J].中国机械工程,2004,15(15):1323-1326. |
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| 作者姓名： | 林义忠 黄玉美 程祥 |
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| 作者单位： | 西安理工大学机械与精密仪器仪表学院,西安,710048 |
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| 摘 要： | 针对六自由度串联机器人设计中所产生的诱导运动，经过理论分析及仿真实验研究，找出了诱导运动对系统的运动学和动力学性能的影响规律，重点探讨了诱导运动造成的驱动电机的功率冗余现象，其结论对包含有诱导运动的串联机器人设计具有一定的指导意义。
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| 关 键 词： | 机器人设计 诱导运动 运动补偿 冗余功率 |
| 文章编号： | 1004-132X(2004)15-1323-04 |
Analysis and Research of Inductive Motion in Serial Robots |
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| Lin Yizhong Huang Yumei Cheng Xiang Xi'an University of Technology,Xi'an.Analysis and Research of Inductive Motion in Serial Robots[J].China Mechanical Engineering,2004,15(15):1323-1326. |
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| Authors: | Lin Yizhong Huang Yumei Cheng Xiang Xi'an University of Technology Xi'an |
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| Affiliation: | Lin Yizhong Huang Yumei Cheng Xiang Xi'an University of Technology,Xi'an,710048 |
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| Abstract: | Inductive motion produced by 6-DOF serial robots in running process was investigated. Principles of the kinematics and dynamics characteristics of the inductive motion were given, and the phenomenon of redundant power of driving motor brought from inductive motion was stressed. All of the results were based on the careful and reliable theoretical analysis and simulation, so they are useful to the robot design with inductive motion. |
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| Keywords: | robot design inductive motion motion compensation redundant power |
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