摘要
机器臂的设计对机器人的操作性能具有决定性的影响,运用质量平衡原理,利用关节驱动电机自身的质量对自行研制的YJP 1型机器人的操作臂进行了优化设计,实验结果表明,该设计方法对减小机械臂动力系统的耦合惯量影响,减轻驱动电机负载具有良好的效果。
The design of the manipulator of robot has very important influence to the performance of robot. In this paper,the author have done the optimized design for the manipulator of the YJP1 type robot,using the theory of counter mass balance, utilizing the mass of driving electromotor. The results of experiments have indicated that the design has reduced the coupling influence and loading torque effectively.
出处
《南京工业大学学报（自然科学版）》
CAS
2003年第3期66-68,共3页
Journal of Nanjing Tech University(Natural Science Edition)
