DYNAMIC ANALYSIS OF BALANCED ROBOT MECHANISMS

被引：24

作者：

KOLARSKI, M ^{[1
]}

VUKOBRATOVIC, M ^{[1
]}

BOROVAC, B ^{[1
]}

机构：

[1] MIHAILO PUPIN INST,DEPT ROBOT,11000 BELGRADE,YUGOSLAVIA

来源：

MECHANISM AND MACHINE THEORY | 1994年 / 29卷 / 03期

关键词：

D O I：

10.1016/0094-114X(94)90128-7

中图分类号：

TH [机械、仪表工业];

学科分类号：

0802 ;

摘要：

A comparison of dynamic behaviour of the unbalanced and balanced robot mechanisms is carried out. Two various ways of balancing are considered: balancing by masses (by adding counter-weights and by link mass redistribution) and balancing by springs. Dynamic behaviour of the robot is studied on the basis of its motion simulation. A simple open kinematic chain structure (''PUMA'' configuration), is used as a basic mechanism. Some comparisons are made with a mechanism of closed loop structure (''ASEA'' mechanism).

引用

页码：427 / 454

页数：28