CAJ | 학술논문

工艺和系统因素对机构运行平稳性的作用机理分析，对于系统运行性能的改进很重要，也比较复杂。基于典型多自由度机械臂系统多种工况下旋转速度曲线平稳性特征和影响因素的试验和计算分析结果，对齿间隙、不平衡重力转矩、启动方向、电机特性等工艺和系统因素的作用机理进行了分析，并给出改进建议。同时表明了继试验和模拟计算之后，工艺和系统因素的综合作用机理分析，是系统整体性能优化的重要环节之一，需加强和重视。
공예화계통인소대궤구운행평은성적작용궤리분석，대우계통운행성능적개진흔중요，야비교복잡。기우전형다자유도궤계비계통다충공황하선전속도곡선평은성특정화영향인소적시험화계산분석결과，대치간극、불평형중력전구、계동방향、전궤특성등공예화계통인소적작용궤리진행료분석，병급출개진건의。동시표명료계시험화모의계산지후，공예화계통인소적종합작용궤리분석，시계통정체성능우화적중요배절지일，수가강화중시。
It is very important and complicated to depress the comprehensive interferences of technical and systematic factors on mechanisms'stability .Based on the results of experimental and calculation rotation velocity curves on various working conditions of a multi-freedom mechanical arm ,comprehensive mecha-nisms of gear clearance ,unbalanced gravity torque ,starting direction ,motor property and etc .are ana-lyzed here .Corrective suggestions are brought forth .Meanwhile ,it should be emphasized that mechanism analysis of technical and systematic factors ,following the experiments and calculations ,is one of the im-portant links in the w hole property improvement .