駆動要素の特性を考慮したロボットマニピュレータの動力学解析

概要

論文の詳細を見る
Most of industrial robotic manipulators are driven by servo motors through transmission mechanisms (reduction gears) . This paper presents a more detailed analysis of manipulator dynamics, in which rotational effects of driving motor on dynamic characteristics of the manipulator are taken into consideration. To carry out the analysis, a new modeling technique is introduced in the treatment of reduction gears in the equation of motion. In the analysis, the motor rotor itself is regarded as one of links. The function of power transmission element, that is, a kinematic relation between the link rotational angle and the motor rotational angle is interpreted as a constraint condition. Then the constraint condition and the equation of motion are solved simultaneously. This method is applied to one type of the industrial robotic manipulators to demonstrate the strict effects of the centrifugal and Coriolis forces caused by motor rotation on the dynamic characteristics of the manipulator.
一般社団法人日本ロボット学会の論文