リンク構造のシミュレーションに関する研究 : 第3報, 柔軟な多関節ロボットの動的応答解析

概要

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With the recent remarkable progress in mechatronics technology, a computer simulation technique has been developed for the analysis of dynamic response in linkage mechanisms coupled with control systems. The "beam element with motor" for large displacement and the "transfer element" have been developed, and the background theory for these elements is presented herein. Application is made to an actual painting robot, yielding accurate results, thus establishing the validity of these elements. From these elements, the influence of beam stiffness, torsional stiffness of the reduction gear, and other characteristics can be obtained. This technology will prove to be valuable for the design and development of new machinery and control systems as well as mechanical systems in fields such as robotics and construction.
社団法人日本機械学会の論文
1991-02-25