【摘要】 合作机器人(Cobot)是一种在同一作业空间内与人直接进行物理合作的新型机器人。为了实现Cobot与人合作的功能,建立了基于双超越离合器的不完全约束关节机构的模型和Cobot关节机构的控制模型。设计了Cobot关节机构的Simulink仿真程序,并对机构的特性进行了仿真分析。仿真结果表明,该Cobot关节机构具有被动的约束特性,满足Cobot与人合作的要求。具有这种关节机构的Cobot可以应用在外科手术、物料搬运和零件装配等需要人机合作的场合。更多还原

【Abstract】 Cobots are new kinds of robots intended for direct physical collaboration with a human operator in a shared workspace. In order to implement function of Cobot cooperation with human, modeling of non-holonomic constraint joint mechanism based on double over-running clutches was completed according to the features of Cobot and performances of unilateral over-running clutch. The control model of Cobot joint mechanism was constructed. The simulation programs were designed by applying Simulink, and the simulation analysis was carried out. The simulation results illustrate that the Cobot joint mechanism can possess passive and constraint features, and meet the requirements of Cobot collaboration with a human operator. Cobot with the mechanism can be applied in surgery operations, materials moving or parts assembly and some situations requiring man-machine cooperation and so on.更多还原