【摘要】 本文推导了机器人的动态静力平衡方程,提出了计算机器人驱动力及运动副反力的一种方法。这种方法物理意义明确,通用性强,计算效率高。针对重力对驱动力的影响,文中提出了卸荷装置的优化模型并进行了实例计算。计算结果表明采用卸荷装置于并优化其参数,可明显减小驱动力的幅值及其波动。更多还原

【Abstract】 This paper derives force equilibrium equations of a robot and presents a method to calculate the driv-ing forces and reactions in all the joints.This method has obvious physical meaning,generality and higheffectivcness.After considering the effect of the links’ weight on the driving forces,an optimum designmodel of relief mechanisms is presented.The calculations are carried out with examples.The results haveshown that the amplitude and the fluctuation of driving forces can be obviously reduced if a relief mecha-nism with optimal parameters is used in a robot.更多还原