摘要
提出了一种基于2-UPS+UPU机构的5-DOF机械臂,建立了机械臂的手腕运动状态与其关节驱动参数之间的传递方程显式表达式,从而得到机械臂的伺服电机驱动参数峰值预估模型,计算出各伺服电机中的驱动转速最大理论值为25.1r/s,驱动力矩最大理论值为6.2N獉m。以一组具体的结构参数作为算例,计算出伺服电机中的驱动转速最大值为18.7r/s,驱动力矩最大值为4.73N獉m,算例伺服电机选型的预估功率为700W,证明了伺服电机峰值驱动参数预估模型的合理性。
A new type of 5-DOF manipulator arm was proposed based on the 2-UPS+UPU mechanisms.The explicit expression between the wrist movement states and the joint driving parameters was given,and the peak prediction model of servo motors for driving speeds and torques was obtained.Calculations show that the peak value of the driving motors' speeds is as 25.1 r/s,and the peak value of the driving motors' torques is as 6.2 N獉m.Using a design scheme of the manipulator arm and its structure parameters as an example,and the calculation results show that the example's driving motor peak speed is as 18.7 r/s,and the example's driving motor peak torque is as 4.73 N獉m.The predicted peak power of the example's servo motors is as 700 W.The driving parameters' peak prediction model of the manipulator arm is more reasonable.
出处
《中国机械工程》
EI
CAS
CSCD
北大核心
2018年第4期449-456,共8页
China Mechanical Engineering
基金
国家科技支撑计划资助项目(2015BAI06B01)
河北省高等学校科学技术研究青年基金资助项目(QN2015185)
秦皇岛市科技计划资助项目(201703A003)
河北科技师范学院博士启动基金资助项目(2015YB004)
