弾性体を把持するロボットの数値シミュレーション

概要

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In this paper, the dynamic characteristics of a two-link robot holding an elastic body are investigated theoretically. The elastic body consists of two masses and two beams without mass. Then, the robot arm are driven by the harmonic drive gears and the direct current servo motors, and the position control system is based on the sinus wave velocity pattern or the trapezoidal shape one. In the theoretical analysis, the state equation of the mechatronis system is derived by applying the Lagrangian of the mechanical system to the Hamilton's principle, in consideration of the transient vibration of the elastic body. Furthermore, the numerical simulation has been carried out, and the effects of the rigidity of the elastic body and the position control method on the dynamic characteristics are demonstrated.
公益社団法人精密工学会の論文
1990-05-05