摘要
以某五自由度空间关节型喷漆机器人小臂的弹簧－重力组合式平衡系统及大臂的弹簧式平衡系统为研究对象，探讨了其数学模型的建立方法，提出了利用弹簧的初拉力来平衡机器人大小臂的新观点，最后结合实例进行设计计算．
The forearm' s spring-weight composite counterbalance system and the upper arm' s spring counterbalance system for a spatial jointed painting robot with 5-DOF are studied. The methods about building the mathematical calculating model is discussed. And a new point of view which use spring's natural pretensioning to counterbalance robotic the forearm and the upper arm is presented. A painting robot as a example is taken to proceed the designing calculation.
出处
《北京航空航天大学学报》
EI
CAS
CSCD
北大核心
1995年第2期119-124,共6页
Journal of Beijing University of Aeronautics and Astronautics
关键词
工业机器人
平衡系统
数学模型
industrial robots
balance system
mathematical models
