摘要
根据合作机器人(Cobot)的特点,建立了基于双超越离合器的不完全约束关节机构模型,并对其进行了仿真分析,在此基础上建立了 Cobot 轨迹的控制模型.对 Cobot 跟踪期望轨迹进行了仿真研究.仿真结果表明,Cobot 能够跟踪期望轨迹,具有被动的约束特性,能够实现与人合作.研究的这种 Cobot 模型可以应用在物料搬运和零件的装配等需要人机合作的场合.
In the paper modeling of non-holonormic constraint joint mechanism based on dual over-running clutch was completed according to the features of collaborative robot(Cobot),and simulation analysis was car- ried out.On the basis control model of Cobot trajectory was built,and simulation research of Cobot tracking a desired trajectory was implemented.The simulation results show that the Cobot can track a desired trajectory, and possess passive and constraint features,and can realize collaboration with a human operator.The Cobot model can be applied in material moving,parts assembly and some situations requiring man-machine coopera- tion and so on.
出处
《中国工程机械学报》
2004年第3期290-295,共6页
Chinese Journal of Construction Machinery
基金
国家自然科学基金(60275030)
哈尔滨市留学回国基金(2002AFLXJ004)
关键词
合作机器人
超越离合器
不完全约束
建模
仿真
collaborative robot
over-running clutch
non-holonormic constraint
modeling
simulation
