卫生陶瓷施釉机器人动力学分析

摘要

为了提高卫生陶瓷机器人系统的稳定性,采用牛顿-欧拉方法建立了6自由度施釉机器人动力学模型,研究了终端效应器载荷变化对各关节力矩的影响.仿真结果表明:终端效应器载荷大小和方向的变化,对腰部、 肩部和肘部3个关节的力矩影响很小,其力矩主要由机器人本身结构决定;终端效应器载荷大小和方向的变化对腕部3个关节的力矩影响较大,当载荷方向与操作臂重力方向相反时关节力矩变小.%A dynamics model of a Six Degree of Freedom (6-DOF) sanitary ceramics glazing robot by using Newton-Euler meth-od is established in order to improve the robot' s system stability.The influence of the end effector' s varied loading on moment of all articulated joints of a glazing robot was researched.The result of simulation shows changes of the end effector' s loading values and di-rections influence substantially on moment of three wrist joints, but influence slightly moment of the shoulder joint, the loin joint and the elbow joint.Moment of the shoulder joint, the loin joint and the elbow joint mostly depend on their own architecture.When the end effector' s loading is opposite direction of gravity, moment of wrist joint is reduced.