工艺和系统因素对机构平稳性作用机理分析

工艺和系统因素对机构运行平稳性的作用机理分析,对于系统运行性能的改进很重要,也比较复杂。基于典型多自由度机械臂系统多种工况下旋转速度曲线平稳性特征和影响因素的试验和计算分析结果,对齿间隙、不平衡重力转矩、启动方向、电机特性等工艺和系统因素的作用机理进行了分析,并给出改进建议。同时表明了继试验和模拟计算之后,工艺和系统因素的综合作用机理分析,是系统整体性能优化的重要环节之一,需加强和重视。

Analysis on Interference Mechanism of Structural and Systematic Factors Interfering with the Mechanical Stability

It is very important and complicated to depress the comprehensive interferences of technical and systematic factors on mechanisms＂ stability. Based on the results of experimental and calculation rotation velocity curves on various working conditions of a multi-freedom mechanical arm, comprehensive mechanisms of gear clearance, unbalanced gravity torque, starting direction, motor property and etc. are analyzed here. Corrective suggestions are brought forth. Meanwhile, it should be emphasized that mechanism analysis of technical and systematic factors, following the experiments and calculations, is one of the important links in the whole property improvement.