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根据YG—1机器人的研制实践.给出了一种用于腰部有谐波传动的操作机变惯量扭振分析模型,建立了仿真程序,并对YG—1类型的机器人操作机进行了分析研究,提出了该类型操作机设计和结构改进的有关意见。
According to the research and development of YG-1 robot, an analysis model of torsional vibration of manipulator used for harmonic drive on waist was established, and a simulation program was established. The robot manipulator YG-1 was analyzed and studied. Put forward some suggestions on the design and structure improvement of this type of manipulator.