CAJ | 학술논문

针对老人服务机器人机械臂的功能要求,提出了一种老人服务机器人的串联型六关节机械臂轻量化的设计方法。建立了机械臂的牛顿-欧拉动力学方程,并利用动力学方程的分析结果,选择了机械臂的直流伺服电机和减速系统等部件。在虚拟样机的基础上对机械臂进行了轻量化设计,包括利用CAD软件设计机械臂机构,利用CAE仿真软件对机械臂进行了静力学和动力学仿真,校验分析结果,选择能够实现机械臂轻量化的机械臂构架的材料,优化构架的结构。
침대노인복무궤기인궤계비적공능요구,제출료일충노인복무궤기인적천련형륙관절궤계비경양화적설계방법。건립료궤계비적우돈-구랍동역학방정,병이용동역학방정적분석결과,선택료궤계비적직류사복전궤화감속계통등부건。재허의양궤적기출상대궤계비진행료경양화설계,포괄이용CAD연건설계궤계비궤구,이용CAE방진연건대궤계비진행료정역학화동역학방진,교험분석결과,선택능구실현궤계비경양화적궤계비구가적재료,우화구가적결구。
In order to meet the basic demands of manipulator, this paper created a method of light- weight design of a manipulator of 6 DOF in a serial elderly serve robot. A series of dynamics equations were built according to the Newton--Euler method. After the results of the dynamics analysis were got, based on the results, the property driving system of the manipulator was chosen including the DC servo motors and the reducers. Then the manipulator＇s model was built, and the statics and dynamics simulation were also made by the virtual prototyping technology.