动态RCC手腕的动力学分析和设计  

THE DYNAMIC ANALYSIS AND DESIGN OF DRCC

作　　者：杜克林[1] 胡建元[1] 黄心汉[1] 

机构地区：[1]华中理工大学自动控制系

出　　处：《机器人》1998年第4期241-246,共6页Robot

基　　金：国家自然科学基金

摘　　要：本文研制了一种高速插轴入孔的被动手腕ＤＲＣＣ．采用该手腕，轴在高速插入倒角孔时沿倒角表面不会弹起．分析了插轴的动力学过程，并采用了广义质心和虚拟质量的概念推导出成功插轴时ＤＲＣＣ的质量特性．为实现成功插轴，广义质心必须位于轴端附近，水平方向的虚拟质量必须大大低于竖直方向的虚拟质量．实验表明，ＤＲＣＣ确实能达到很高的速度，并且无卡阻和楔紧，可靠性很高．A passive wrist DRCC for highspeed peginhole assembly has been fabricated in this study. This device can eliminate bouncing from chamfer surface during highspeed assembly. Employing the concepts of generalized centroid and virtual mass, the dynamic process of peginhole assembly is analyzed. To ensure successful mating, the generalized centroid must be in the close neighborhood of the peg tip and the ratio of virtual masses along horizontal and vertical directions must be minimized. Experiments exhibit that the DRCC can in deed be used at very high speed, and no jamming and wedging occurs,thus a very high reliability is reached.

关 键 词：动态RCC 动力学 机器人 操作手 手腕 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]