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对JZF防爆机器人进行了运动学、动力学和机械力学的分析研究,将机械系统结构参数和运动学参数(可计算与不可计算参数)与广义力(惯性力、弹性力、阻尼力)联系在一起,并通过振动实验模态识别方法求得不可计算参数.编制了仿真软件包,从系统的角度计算和优选驱动部件——执行元件和机械系统的结构参数,使机械参数与电控参数达到最佳匹配。
The kinematics, dynamics and mechanics of JZF explosion-proof robot are analyzed and studied. The structural and kinematic parameters (computable and non-computable parameters) and the generalized force (inertial force, elastic force and damping force) of the mechanical system are linked And through the vibration experiment modal identification method to calculate the parameters can not be calculated.Simulation software package is prepared from the system point of view to calculate and optimize the drive components - actuator and mechanical system structure parameters, the mechanical parameters and electrical control parameters to achieve Best match.