摘要
在大型关节型工业机器人中,为了增加运动的平稳性,必须对大小臂杆进行重力补偿。文中针对六自由度关节型机器人,介绍了一种在不外加装置的情况下,利用机器人本身的驱动电机进行补偿的方法,并对其动静态特性作了详细的分析。
In order to enhance the movement placidity of the big articulated industry robot,it is need to compensate for the gravity of robot arm.In this paper, aimmint at six liberties articulated robot, the method of utilizing the robot＇s driving motor to compensate without any appending devices is introduced,and its dynamic and static property are analysed particularly.
出处
《机械工程师》
2008年第9期38-39,共2页
Mechanical Engineer
关键词
重力补偿
直流电机
静态特性
动态特性
compensation for gravity
DC motor, static priperty
dynamic property
