| 化工容器焊接机械手动力学分析中的一种算法 |
| |
| 引用本文： | 孙学俭. 化工容器焊接机械手动力学分析中的一种算法[J]. 北京石油化工学院学报, 1993, 0(2) |
| |
| 作者姓名： | 孙学俭 |
| |
| 作者单位： | 北京石油化工学院自动化系 |
| |
| 摘 要： | 本文依据化工容器焊接机械手的结构特点,建立机械手的动力学模型,根据达朗伯尔原理计算机械手各传动机构及机械手开式运动链机构的惯性力、外力并确定各运动副处的动反力的递推公式,分析机械手驱动电机的输出力矩和功率。
|
| 关 键 词： | 机械手 动力学 质量 惯性力 动反力 输出力矩 |
A Dynamic Calculation Method of Welding Robot About Vessel for Chemical Industry |
| |
| Sun Xuejian. A Dynamic Calculation Method of Welding Robot About Vessel for Chemical Industry[J]. Journal of Beijing Institute of Petro-Chemical Technology, 1993, 0(2) |
| |
| Authors: | Sun Xuejian |
| |
| Affiliation: | Automation Department |
| |
| Abstract: | According to the structural characteristics of the welding robot for vessel for chemical industry a dynamic model of the robot is established . The inertial forces and reaction forces in the knematic pairs of the robot are determined on D'Alembert's principle and their calculation equations are derived. Then the driving torques and powers of its actuators are analyzed |
| |
| Keywords: | Robot Dynamics Mass Inertial force Driving torque Power |
| 本文献已被 CNKI 等数据库收录！ |
