| 基于kane方法的关节机器人举升机构的动力学分析 |
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| 引用本文： | 王凤利,冯亚磊,董吉顺,李学威,刘长斌.基于kane方法的关节机器人举升机构的动力学分析[J].组合机床与自动化加工技术,2011(1). |
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| 作者姓名： | 王凤利 冯亚磊 董吉顺 李学威 刘长斌 |
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| 作者单位： | 新松机器人自动化股份有限公司,沈阳,110168 |
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| 摘 要： | 以应用于平板玻璃基板搬运领域的关节机器人的举升机构为研究对象,针对举升机构由串联的两个平行四连杆机构组成以及各组成构件间存在着复杂的动力学非线性耦合关系的特点,采用kane方法建立了该机构的递推动力学方程,基于动力学方程对举升机构的动力学特性进行了仿真分析,分析的结果表明延长驱动关节的加速时间是提高举升机构运行平稳性的可行方法,从而为机器人举升机构的优化设计和平稳控制提供了理论依据.
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| 关 键 词： | kane方法 关节机器人 举升机构 动力学分析 |
Dynamics Analysis of Clean Room Robot's Lifting Mechanism Based on Kane Method |
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| WANG Feng-li,FENG Ya-lei,DONG Ji-shun,LI Xue-wei,LIU Chang-bin.Dynamics Analysis of Clean Room Robot's Lifting Mechanism Based on Kane Method[J].Modular Machine Tool & Automatic Manufacturing Technique,2011(1). |
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| Authors: | WANG Feng-li FENG Ya-lei DONG Ji-shun LI Xue-wei LIU Chang-bin |
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| Affiliation: | WANG Feng-li,FENG Ya-lei,DONG Ji-shun,LI Xue-wei,LIU Chang-bin(Siasun Robot& Automation Co.,LTD.,Shenyang 110168,China) |
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| Abstract: | The lifting mechanism of articulated robots which are used in areas for flat glass substrates handling is studied,considering the character that the lifting mechanism is composed of two serial parallel four-bar linkages and there are complex nonlinear dynamic couplings among those components,kane method is used to establish the recursive dynamic equations of the lifting mechanism,and the dynamics performance of the driving joints is simulation analyzed based on the dynamic equations,the results show that ex... |
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| Keywords: | kane method clean room robot lifting mechanism dynamics analysis |
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