【摘要】 介绍了一种新型5连杆式示教再现机器人,它采用不完整约束驱动方法,可以实现手把手自由示教,自动再现和轨迹控制等功能,还可以实现人机合作功能.详细地介绍了不完整约束驱动系统的工作原理、机器人的控制系统和控制方法.对平面五连杆式机器人样机进行了示教和再现控制试验,并给出了试验结果.更多还原

【Abstract】 A new five-bar teach-robot is introduced ,which is a nonholonomic constraint driving system. In a teach model, the robot can be moved freely while pushing the end effector, and can playback and trace the teached trajectory automatically. It also can work as Cobot. The principles of nonholonomic constraint and the control syetem are introduced . Experiment is made with the prototype five bar robot, and the experimental result is given.更多还原