精密两轴机械臂的结构设计及测试  

Design and Testing of Precision Two-Axis Mechanical Arm Structure

作　　者：许安鹏 XU Anpeng(Foshan Institute of Intelligent Equipment Technology,Foshan 528225)

机构地区：[1]佛山智能装备技术研究院,广东佛山528225

出　　处：《五金科技》2024年第6期84-87,共4页Hardware

摘　　要：本文首先对精密两轴机械臂进行工作原理分析,设计出精度高、刚性强的两轴机械臂结构;其次分别对大臂、小臂的伺服电机、减速机进行计算校核并确定其型号;同时对机械臂输出端的角度编码器进行选型计算并确定其型号;最后通过研制出精密两轴机械臂并进行实际测试,验证了减速机的实际输出端的扭转刚度与理论值较符合。The paper first analyzes the working principle of the precision two-axis mechanical arm and designs a highly accurate and rigid two-axis mechanical arm structure.Secondly,it calculates and verifies the servo motors and reducers for the upper arm and forearm,determining their models.Simultaneously,it selects and calculates the model of the angle encoder at the output end of the mechanical arm.Finally,through the development of a precision two-axis mechanical arm and actual testing,it verifies that the torsional rigidity of the actual output end of the reducer is close to the theoretical values.

关 键 词：精密机械臂 结构设计 角度编码器 测试 

分 类 号：TP24[自动化与计算机技术—检测技术与自动化装置]