基于串联离合驱动的安全机械手静力学分析

发布时间：2018-07-01 18:46

本文选题：力矩限制器 + 最大各向同性力　；参考：《机械设计》2017年11期

【摘要】：以物理人机交互安全为背景,提出了基于串联离合驱动的安全机械手静力学分析方法。以末端执行器为参考点经过一系列推导得到关节限制力矩和最大各向同性力及最大接触力之间的关系及运算步骤,并以最大各向同性力与最大接触力的比值作为安全性能指标,应用于冗余机械手运动学中以优化机械手的操作性能。将末端执行器表面网格化,以平行四边形单元为研究对象推导得到单元上最大接触力的表达式。最后通过数值实例验证上述两种静力学分析方法的一致性、简便性和有效性,为根据机器人结构位形对力矩限制器进行标定提供了控制理论基础。
[Abstract]:Based on the safety of physical human-computer interaction, a statics analysis method for safe manipulator based on series clutch drive is proposed. Taking the end actuator as the reference point, a series of derivation is made to obtain the relationship between the joint limiting moment and the maximum isotropic force and the maximum contact force, and the ratio of the maximum isotropic force to the maximum contact force is taken as the safety performance index. It is applied to kinematics of redundant manipulators to optimize the performance of manipulators. The surface of the end actuator is meshed and the expression of the maximum contact force on the element is derived by taking the parallelogram element as the object of study. Finally, a numerical example is given to verify the consistency, simplicity and effectiveness of the two statics analysis methods, which provides the control theory basis for the calibration of the torque limiter according to the configuration of the robot structure.
【作者单位】：江南大学机械工程学院;江苏省食品先进制造装备技术重点实验室;
【基金】：江苏省食品先进制造装备技术重点实验室开放课题资助项目(FM-201402)
【分类号】：TP241

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