| 双臂雕塑机器人的动力学研究 |
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| 引用本文： | 钟春敏,何开明. 双臂雕塑机器人的动力学研究[J]. 机械科学与技术, 2003, 22(4): 611-613,638 |
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| 作者姓名： | 钟春敏 何开明 |
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| 作者单位： | [1]黄石高等专科学校机械工程系，黄石435003 [2]武汉理工大学机电学院，武汉430070 |
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| 摘 要： | 用 R.P.Paul的动力学分析方法对 2 P-1P3 R双臂机器人进行了动力学研究 ,推导出各关节驱动力或力矩的公式。用切削原理的方法结合微分几何的理论求解切削力。用 MATLAB语言开发出求各关节最大驱动力或力矩的软件 ,并进行了实例数值计算
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| 关 键 词： | 双臂机器人 动力学 MATLAB语言 |
| 文章编号： | 1003-8728(2003)04-0611-03 |
Dynamics Study of a Two-Arm Carving Robot |
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| ZHONG Chun-min ,HE Kai-ming. Dynamics Study of a Two-Arm Carving Robot[J]. Mechanical Science and Technology for Aerospace Engineering, 2003, 22(4): 611-613,638 |
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| Authors: | ZHONG Chun-min HE Kai-ming |
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| Affiliation: | ZHONG Chun-min 1,HE Kai-ming 2 |
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| Abstract: | In order to apply two-arm robots to carving ma king,the dynamics of 2R-1P3R mechanism was studied by R.P.Paul's method.The dri ving force or torque calculating equations of every joint were deduced. By maki ng use of the methods about cutting theory and differential geometry,the cutting forces in the equations were calculated. The software for calculating the large st driving force or torque of every joint was developed with MATLAB language.The numerical calculation of a practical example was given. |
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| Keywords: | Two-arm robot Dynamics MATLAB language |
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