摘要
以穿戴式机器人空间串联机构的重力补偿机构为研究对象,提出平衡连杆旋转中心与补偿器轴线对中的设计方法。在平衡连杆的偏航面旋转中,设计平面重力补偿单元,然后将补偿单元改装成空间重力补偿单元,以适应平衡连杆的一般性旋转。将串联机构的重力势能视为多个子系统的重力势能之和,分析空间重力补偿单元对平衡连杆的作用模式和偏转的补偿性能。最后结合空间重力补偿与同步带结构,构建空间串联机构的重力补偿机构。通过对空间重力补偿的仿真分析,验证了重力平衡性能和所提设计方法的有效性。
Taking the gravity compensation mechanism of the wearable robot space tandem mechanism as research object,a design method of centering the rotation center of the balance link and the axis of the compensator was proposed.A plane gravity compensation unit was designed in the yaw surface rotation of the balance link,then the compensation unit was modified into a space gravity compensation unit to adapt to the general rotation of the balance link.The gravitational potential energy of the tandem mechanism was regarded as the sum of the gravitational potential energy of multiple subsystems.The action mode of the space gravity compensation unit on the balance link and the compensation performance of deflection were analyzed.Finally,combining the space gravity compensation and synchronous belt structure,the gravity compensation mechanism of the space tandem mechanism was constructed.Through the simulation analysis of space gravity compensation,the gravity balance performance and the effectiveness of the proposed design method were verified.
作者
胡松华
杨竣皓
孙利雄
李树东
HU Songhua;YANG Junhao;SUN Lixiong;LI Shudong(Baoshan Power Supply Bureau of Yunnan Power Grid Co.,Ltd.,Baoshan Yunnan 678000,China)
出处
《机床与液压》
北大核心
2024年第5期66-73,共8页
Machine Tool & Hydraulics
基金
中国南方电网有限公司科技项目(YNKJXM20200170)。
关键词
穿戴式机器人
空间平衡机构
串联机构
重力补偿
wearable robot
spatial balancing mechanism
tandem mechanism
gravity compensation
