机器人机电一体化设计方法与应用研究——运动学及力学分析

对JZF防爆机器人进行了运动学、动力学和机械力学的分析研究,将机械系统结构参数和运动学参数(可计算与不可计算参数)与广义力(惯性力、弹性力、阻尼力)联系在一起,并通过振动实验模态识别方法求得不可计算参数.编制了仿真软件包,从系统的角度计算和优选驱动部件——执行元件和机械系统的结构参数,使机械参数与电控参数达到最佳匹配。

Mechatronics Method of Design and Its Apph'cation in the Design and Analysis of Robots

Puts forward a new mode-mechatronics design method in the study of a robot 's kinematics, dynamics and mechanics of machinery. It puts together the structural parameters (calculable or uncalculable) kinematic parameters with the generalized forces (inertia force, spring force, damping force). The uncalculable parameters are estimated with the vibration model analysis method. A simulation software package is worked out. The design parameters of the driving devices-executing devices are calculated from a system viewpoint, matching the mechanical parameters optimally with the electronic parameters. An example of analysis and design of the JZF-Special Purpose Assembly Robot developed by the Robot Research Center BIT has proved the method feasible.