| 柔性机器人协调操作系统的动力特性分析 |
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| 引用本文： | 刘迎春,余跃庆. 柔性机器人协调操作系统的动力特性分析[J]. 机械设计与研究, 2004, 20(1): 25-28 |
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| 作者姓名： | 刘迎春 余跃庆 |
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| 作者单位： | 北京工业大学,机电学院,北京,100022;北京工业大学,机电学院,北京,100022 |
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| 基金项目： | 国家自然科学基金资助项目 (5 0 3 75 0 0 3 )，北京市自然科学基金资助项目 (3 0 12 0 0 3 ) |
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| 摘 要： | 进行了柔性协调操作机器人的动力特性分析，给出了协调操作柔性机器人各杆的动应力的计算方法，分析了其与机构构件动应力计算方法的不同，并对两3R柔性机器人协调操作一刚性负载系统进行数值仿真，计算了各杆始端、中点和末端的动应力以及每杆最大瞬时动应力和末端位置、转角误差，分析了所得结果。
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| 关 键 词： | 柔性机器人 协调操作 动应力 |
| 文章编号： | 1006-2343(2004)01-025-04 |
| 修稿时间： | 2003-07-25 |
Dynamic Analysis of Cooperating Flexible Robot System |
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| LIU Yin-chun,Yu Yue-qing. Dynamic Analysis of Cooperating Flexible Robot System[J]. Machine Design and Research, 2004, 20(1): 25-28 |
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| Authors: | LIU Yin-chun Yu Yue-qing |
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| Abstract: | The study of cooperating flexible robots has great significance.Most of the literatures about flexible robots are on kinematic precision such as position error and angular error. The dynamic properties of such system were not analyzed. In this paper,the dynamic properties of cooperating flexible robots are analyzed and the method of how to calculate its dynamic stress is proposed.The difference between mechanisms and robots dynamic stress calculation is given.Numeric simulation of two 3R flexible robots manipulating a rigid payload is illustrated at last and its results show this method is feasible. |
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| Keywords: | flexible robot cooperating dynamic stress |
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