基于滚珠丝杠传动的平移机器人轴线动力学研究

2016 IEEE International Conference on Automation, Quality and Testing, Robotics (AQTR) Pub Date : 2016-05-19 DOI:10.1109/AQTR.2016.7501317

I. Negrean, C. Schonstein, K. Kacso

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引用次数: 0

摘要

本文对某系列机器人结构的轴进行了详细的动力学研究。对基于滚珠丝杠传动的平移机器人轴的驱动力矩进行了分析研究。在机械机器人系统的电影链上，对传动装置的研究，以及隐含的驱动力矩的严格确定是一个基本方面，在尺寸、功耗和精度方面对机器人的优化设计具有深远的影响。

本文章由计算机程序翻译，如有差异，请以英文原文为准。

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Study about the dynamics of a translational robot axis based on ball screw transmission

The paper is focused on a detailed dynamic study for an axis belonging to a serial robot structure. It contains an analytical study for the driving moments for a translational robot axis based on ball screw transmission. The study of transmission gearing, and implicit a rigorous determination of the driving moments, along the cinematic chain of the mechanical robotic system is a fundamental aspect, with deep implications in optimal robot design in terms of sizing, power consumption and accuracy.

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2016 IEEE International Conference on Automation, Quality and Testing, Robotics (AQTR)

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