| 摘要: |
| 结合国产的HT120点焊机器人，分析了平行四杆机构对机器人可达工作空间的影响；对机器人平行四杆机构模型进行了详细的动力学分析。分析结果表明，平行四杆机构能改善点焊机器人的动力学特性和使用性能，但在实际应用中仅使用平行四杆机构来保持动平衡是不够的，还必须和其他平衡方式结合使用才能获得比较满意的效果。 |
| 关键词: 平行四杆机构 点焊机器人 可达工作空间 动力学 动平衡 模型动力学 |
| DOI：10.11841/j.issn.1007-4333.2003.04.102 |
| 修订日期：2002-01-09 |
| 基金项目:国家 8 6 3高技术“智能机器人”主题“工业机器人本体计算动力学分析和计算”子课题基金资助项目 |
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| Effect of parallel four-bar mechanism on spotwelding robot |
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| Abstract: |
| Taking HT120 spotwelding robot made in China as an example, the effect of parallel four-bar mechanism on the reachable workspace of spotwelding robot and dynamic model of robot based the parallel four-bar mechanism were deeply analyzed. The analytical results showed that the dynamic and service performance of robot were improved by using the parallel four-bar mechanism. But only the parallel four-bar mechanism is not enough to balance in practice. So it is necessary to combine the parallel four-bar mechanism with other devices in order to keep a very good inertia balance. |
| Key words: parallel four-bar mechanism,spotwelding robot,reachable workspace,dynamics,inertia balance |
