一种旋转关节驱动装置及其电气驱动方案  

A Rotary Joint Actuating Device and Its Electrical Drive Scheme

作　　者：田广军[1] 谷栎娜 吕盼杰 

机构地区：[1]燕山大学电气工程学院,河北秦皇岛066004

出　　处：《机械传动》2017年第5期67-71,共5页Journal of Mechanical Transmission

基　　金：国家自然科学基金(51475407)

摘　　要：设计了一种机器人旋转关节驱动装置,其特点是将螺旋传动机构和曲柄滑块机构进行了有机结合。借助Solid Works软件,完成了旋转关节的三维建模;基于运动分析,建立了旋转关节的运动数学模型,得到了末端执行机构的旋转范围;分析关节末端理论输出力矩和其旋转角的关系,从而进一步验证了参数设计的合理性;实现样机制作,结合所设计的旋转关节提出了一种角度传感方案,搭建了一种旋转关节装置的电气试验平台。试验结果表明,该旋转关节的运动范围较大,机械传动效果良好,而且结构简单,容易实现精确控制。A rotary joint actuating device of robot is designed combining the screw transmission mechanism with the crank-slide mechanism. Firstly, with the software SolidWorks, the three -dimensional model of the rotary joint is built. Based on the motion analysis, the mathematical model of the rotary joint is established, the rotational range of the end - effector is got. Then, the theoretical output torque of the end - effector is taken as object function, the relationship between the output torque and the rotation angle is analyzed to further verify the rationality of the parameters design. At last, the experimental prototype is made, and the angle measurement scheme is presented for the rotary joint. An electrical test platform of the rotary joint is set up. The test results show that the motion range of the rotary joint is larger and the effect of its mechanical transmission is good. Also, the rotary joint is easy to control and its structure is simple.

关 键 词：旋转关节 螺旋传动机构 曲柄滑块机构 角度传感 电气驱动 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]