新型六自由度协作机器人的研制

2018 IEEE 9th International Conference on Mechanical and Intelligent Manufacturing Technologies (ICMIMT) Pub Date : 2018-02-01 DOI:10.1109/ICMIMT.2018.8340442

Saixuan Chen, Minzhou Luo

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引用次数: 0

摘要

本文旨在研究基于直流伺服电机的六自由度协作机器人。该机器人采用空心转矩无刷电机、空心谐波驱动器、空心轴、空心编码器等。该设计可以实现镂空线条，使机器人更加轻盈美观。机器人关节采用双编码器。这样可以提高机器人的控制精度。采用蒙特卡罗方法计算机器人末端执行器的包络线。结果表明，可执行操作区域覆盖了机器人所能到达的所有空间。通过拉格朗日函数得到了六个关节的动力函数。通过动态仿真计算得到的电流可与实际测试电流进行比较。这可以用来监控机器人是否与外界发生碰撞。最后，通过ADAMS动力学仿真得到了机器人各关节的角速度曲线、动态能量曲线和力力矩曲线。仿真实验验证了机器人研究设计中电机和减速器的合理性。

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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The development of a new 6 DOF collaborative robot

This article aims to research the 6 degrees of freedom(DOF) collaborative robot based on the DC servo motor. This robot adopts the hollow torque brushless motor, hollow harmonic driver, hollow shaft, hollow encoder and so on. This design can realize the hollow line and make the robot more light and artistic. The robot joint adopts dual encoder. This can enhance the control accuracy of the robot. Monte-Carlo method was used to calculate the envelope of the robot end effector. The result showed that the executable operating areas cover all the space where the robot can reach to. The dynamic functions of six joints were got through Lagrangian. The current calculated by the dynamic simulation can be used to compare with the actual test current. This can be used to monitor whether the robot is colliding with the outside world. Finally, the angular velocity curve, dynamic energy curve and force and moment curve of each joint of the robot are obtained through ADAMS dynamic simulation. The rationality of motor and reducer in the research and design of the robot is verified by simulation experiment.

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来源期刊

2018 IEEE 9th International Conference on Mechanical and Intelligent Manufacturing Technologies (ICMIMT)

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