CAJ | 학술논문

基于 ADAMS 软件，研究了新型穿鞋带机械手在变负载工作情况下，各驱动关节的力和力矩变化情况，并与空载运行状态进行比较，分析了机械手牵引鞋带翻转过程中对驱动机构的扰动，并对移动副进行了优化设计。分析结果为后续驱动电机选型、零件选择和振动分析提供重要依据，有利于提高机械手的运动控制及动态特性。
기우 ADAMS 연건，연구료신형천혜대궤계수재변부재공작정황하，각구동관절적력화력구변화정황，병여공재운행상태진행비교，분석료궤계수견인혜대번전과정중대구동궤구적우동，병대이동부진행료우화설계。분석결과위후속구동전궤선형、령건선택화진동분석제공중요의거，유리우제고궤계수적운동공제급동태특성。
Change of the force and moment of each driving joint of new wearing shoes manipula-tor is researched,which is based on ADAMS soft-ware under variable load working condition.The disturbance for driving mechanism of manipulator traction shoelaces is analyzed in the process of its flipping,which is compared with the state of no load running.And optimization design is carried out on the prismatic pair.Important basis is pro-vided for subsequent drive motor selection,selec-tion for material and vibration analysis based on a-bove analysis results,which is also helpful to im-prove the motion control of manipulator and dy-namic characteristics.