具有特定性能的机械臂的合成

2017 International Conference on Industrial Engineering, Applications and Manufacturing (ICIEAM) Pub Date : 2017-05-01 DOI:10.1109/ICIEAM.2017.8076203

I. V. Voynov, A. I. Telegin, D. Timofeev

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引用次数: 1

摘要

本文提出了一种新的计算机械臂关节处体点的力系合力和力系力矩的公式。利用这些公式推导了RM动力学方程，并给出了给定性质下RM综合问题的解法。作为一个例子，合成了三个具有3,4和6自由度的RM。动态方程具有最简单的形式，可以方便地求解最优控制问题。

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Synthesis of robot manipulators with specified properties

This article considers new formulas for calculating the resultant of system of force and the moment of system of forces about point of body acting in joints of the robot manipulator (RM). The derivation of the RM dynamics equations and the solution of the RM synthesis problem with given properties are shown using these formulas. As an example, three RM with 3, 4 and 6 degrees of freedom are synthesized. The dynamic equations have the simplest form, it allows to solve the problems of optimal control easily.

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2017 International Conference on Industrial Engineering, Applications and Manufacturing (ICIEAM)

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