MASS DISTRIBUTION DETERMINING METHOD FOR MULTI-AXIAL MECHANISM, ACCELERATION/DECELERATION FEATURE PARAMETER DETERMINING METHOD, MASS DISTRIBUTION AND ACCELERATION/ DECELERATION FEATURE PARAMETER SIMULTANEOUS DETERMINING METHOD, AND ADDITIONAL MASS MOUNTED ROBOT AND SPECIFIC MASS DISTRIBUTION EQUIPPED ROBOT HAVING MASS DISTRIBUTION BASED ON THE SAME MASS DISTRIBUTION DETERMINING METHOD

摘要

PURPOSE: To provide the mass distribution determining method for the multi-axial mechanism having optimum additional mass parameters for motor characteristics, robot arm mass distribution, and operation conditions when operation conditions of the multi-axial mechanism having inter-axis interference are given. ;CONSTITUTION: Dynamic interference between robot arms 2 and 4 is reduced by determining the mass distribution and acceleration/deceleration feature parameters of the robot so that restriction conditions are met with basic parameters and operation conditions and an evaluation function expressed with the restriction condition margin is maximized. Additional mass parameters can be determined unconditionally so as to consider speed variation characteristics of maximum torque which can be generated by a motor 3 and temperature rise characteristics of a motor 3 as the restriction condition evaluation function; and additional mass can be made smaller than that of conventional technology, so there is the advantage that the robot body can be reduced in weight.;COPYRIGHT: (C)1995,JPO