【摘要】 针对六自由度串联机器人设计中所产生的诱导运动 ,经过理论分析及仿真实验研究 ,找出了诱导运动对系统的运动学和动力学性能的影响规律 ,重点探讨了诱导运动造成的驱动电机的功率冗余现象 ,其结论对包含有诱导运动的串联机器人设计具有一定的指导意义。更多还原

【Abstract】 Inductive motion produced by 6-DOF serial robots in running process was investigated. Principles of the kinematics and dynamics characteristics of the inductive motion were given, and the phenomenon of redundant power of driving motor brought from inductive motion was stressed. All of the results were based on the careful and reliable theoretical analysis and simulation, so they are useful to the robot design with inductive motion.更多还原