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针对TH50型码垛机器人采用曲柄摇块机构驱动回转副这种新构型,利用动态静力学方法将瞬时惯性力系转化为静力系,通过机器人整体及其子系统的力系平衡方程建立了机器人的动态静力学模型.利用Matlab编制了求解其关键零部件以及关键轴的受力状态的程序,并进行了实例计算和分析.该模型已成功应用于TH50码垛机器人的设计和校核,样机的良好运行表明了该模型的正确性.
For the TH50 palletizing robot, the crank rocker mechanism is used to drive the revolving pair. This new configuration utilizes the dynamic statics method to transform the instantaneous inertial force system into the static force system. The balance equation of the force system of the whole robot and its subsystems is established The dynamic statics model of the robot is established.A program to solve the key components and the stress state of the key shaft is developed by Matlab and the calculation and analysis of the example are carried out.This model has been successfully applied to the design and checking of the TH50 palletizing robot, The good operation of the prototype shows the correctness of the model.