关节型机器人示教机构平衡设计与优化

针对示教机构并不应用于实际的生产中，而且不用考虑机构运动过程中的弹性变形、惯性力等性能，设计出了结构简单的轻质连杆来代替实际机器人的各构件。示教机构的设计原则是保留实际机器人的自由度数、机构尺寸和工作空间，其余部分进行简化。利用弹簧平衡法和增加端面对关节型机器人臂杆进行重力平衡，各关节无驱动电机和减速器，仅有编码器测量关节角度，在结构上用简单结构的轻质连杆连接于各关节之间。

Design and Optimization of the Gravity Balancing for the Joint-type Robot Teaching Mechanism

Teaching mechanism of the joint-type robot are not used for the actual production, so the designer needn＇t consider the elastic deformation, inertia force and other properties, so a simple structure with the light bar is designed instead of the actual robot components. The design principle of teaching mechanism is to retain the actual degrees of freedom robot, body size and work space, and the rest can be simplified. Spring balance method and increasing endface friction between the joint-type robot arm bar are used to balance gravity. All the joints have no drive motor and reducer. Encoder is used to measure the joint angle .All joints are connected by the simple structured light rod.