Modeling and simulation of Cobot based on double over-running clutches  

作　　者：董玉红 张立勋 

机构地区：[1]School of Mechanical and Power Engineering,Harbin University of Science and Technology [2]School of Mechanical and Electrical Engineering,Harbin Engineering University

出　　处：《Journal of Harbin Institute of Technology(New Series)》2008年第1期50-54,共5页哈尔滨工业大学学报（英文版）

基　　金：Sponsored by the National Natural Science Foundation of China(Grant No60275030)

摘　　要：In order to analyze characteristics of Cobot cooperation with a human in a shared workspace, the model of a non-holonormic constraint joint mechanism and its control model were constructed based on double over-running clutches. The simulation analysis was carried out and it validated passive and constraint features of the joint mechanism. In terms of Cobot components, the control model of Cobot following a desired trajectory was built up. The simulation studies illustrate that the Cobot can track a desired trajectory and possess passive and constraint features ; a human supplies operation force that makes Cobot move, and a computer system con- trois its motion trajectory. So it can meet the requirements of Cobot collaboration with an operator. The Cobot model can be used in applications of material moving, parts assembly and some situations requiring man-machine cooperation and so on.In order to analyze characteristics of Cobot cooperation with a human in a shared workspace, the model of a non-holonormic constraint joint mechanism and its control model were constructed based on double over-running clutches. The simulation analysis was carried out and it validated passive and constraint features of the joint mechanism. In terms of Cobot components, the control model of Cobot following a desired trajectory was built up. The simulation studies illustrate that the Cobot can track a desired trajectory and possess passive and constraint features; a human supplies operation force that makes Cobot move, and a computer system controls its motion trajectory. So it can meet the requirements of Cobot collaboration with an operator. The Cobot model can be used in applications of material moving, parts assembly and some situations requiring man-machine cooperation and so on.

关 键 词：COBOT over-running clutch non-holonormic constraint modeling simulation 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]