摘要
首次对由驱动系统、传动系统、控制系统和机械动力臂所组成的机器人系统进行了系统动力学建模。对机器人系统的动态特性进行了仿真、分析和评价。定性分析了传动系统的弹性对机器人系统的动态特性的影响。为提高机器人系统的动态特性提供了依据。以上海Ⅱ号工业机器人(SIR—Ⅱ)为研究对象,所有的计算、仿真均在APOLLO CAD工作站上用C语言实现。
In this thesis, A system dynamic model of SIR-Ⅱ is built, Considering not only sarm-dynamics system, but also Control system,driving system and transimission system. The system dynamic performance of SIR-Ⅱ is simulated and analyzed. The effect of the stiffness of transmission system on system dynamics is analyzed. The powerful proof is prsented to improve the dynamic performance of Robot. All calculation and simulation are implemented in C language on APOLLO CAD workstation.
关键词
机械动力臂
系统动力学
机器人
Driving System
Transmission System
Control System
Arm—Dynamics
System Dynamic Model.
