| 工业机器人平衡系统的研究 |
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| 引用本文： | 朱遂伍,孙杏初.工业机器人平衡系统的研究[J].北京航空航天大学学报,1995,21(2):119-124. |
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| 作者姓名： | 朱遂伍 孙杏初 |
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| 作者单位： | 北京航空航天大学机电工程系 |
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| 摘 要： | 以某五自由度空间关节型喷漆机器人小臂的弹簧－重力组合式平衡系统及大臂的弹簧式平衡系统为研究对象，探讨了其数学模型的建立方法，提出了利用弹簧的初拉力来平衡机器人大小臂的观点，最后结合实例进行设计计算。
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| 关 键 词： | 工业机器人 平衡系统 数学模型 |
A STUDY ON INDUSTRIAL ROBOT COUNTERBALANCE SYSTEM |
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| Zhu Suiwu, Sun Xingchu.A STUDY ON INDUSTRIAL ROBOT COUNTERBALANCE SYSTEM[J].Journal of Beijing University of Aeronautics and Astronautics,1995,21(2):119-124. |
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| Authors: | Zhu Suiwu Sun Xingchu |
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| Abstract: | The forearm' s spring-weight composite counterbalance system and the upper arm' s spring counterbalance system for a spatial jointed painting robot with 5-DOF are studied. The methods about building the mathematical calculating model is discussed. And a new point of view which use spring's natural pretensioning to counterbalance robotic the forearm and the upper arm is presented. A painting robot as a example is taken to proceed the designing calculation. |
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| Keywords: | industrial robots balance system mathematical models |
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