【摘要】 针对华恒焊接股份有限公司的重载机器人本体,对其液气平衡系统进行了理论分析,推导了该平衡系统对应的平衡力矩理论模型,并给出了臂杆自重及负载作用在其肩关节上的偏重力矩,从而建立了该液气平衡系统的数学模型。最后进行了重载机器人平衡缸实验,验证了所建立的平衡系统数学模型的正确性。更多还原

【Abstract】 Aiming at the heavy-duty robot body of Huaheng Welding Co.,Ltd.,the theoretical analysis of its liquid-gas balance system is carried out,and the theoretical model of the balance torque of liquid-air balance system is deduced in this paper.The weight and load of heavy-duty robot are given in the shoulder of the emphasis on the moment,thus establishing the liquid gas balance system mathematical model.更多还原