【摘要】 当机器人的机械手通过与末端连杆相连的手爪推动物体或支撑负载时,或者在考虑机械手自身结构设计时,都需要分析机械手在静态下的力或力矩平衡问题,也就是要确定为了维持平衡时机械手的各个关节必须给出的力或力矩。文中以具有规范杆的SIWR-Ⅱ型水下机械手为研究对象,通过统一坐标的建立给出了该机械手的运动学方程;基于连杆静力分析,用关节力矩递推算法计算SIWR-Ⅱ型水下机械手的各关节力和力矩;利用Matlab计算,表明该方法有效可行,可供相关研究人员参考。更多还原

【Abstract】 When the robot manipulator pushes objects or supports loads by using end-effector connecting with the end link or we consider the mechanical design of the manipulator itself, it is essential for us to analyse the forces or moments balance of the manipulator under static state, i.e. to make certain joints forces or moments for maintaining balance of the manipulator. The kinematics formula is developed for SIWR-Ⅱ type underwater manipulator with canonical link by building uniform coordinate. Based on link statics analysis, the joints forces and moments of the SIWR-Ⅱ type underwater manipulator are obtained by using recursive arithmetic. The results of computation with Matlab for SIWR-Ⅱ type underwater manipulator show that this method is effective and useful to give a reference to relative researchers.更多还原