摘要
为解决六轴工业机器人设计过程中电机减速机的选型问题,研究其转动关节的电机减速机的选型方法。在特定负载与负载偏心指标下,首先建立单负载模型,根据速度、加速度等指标设置Step驱动函数,完成Motion仿真。其次,依据仿真的力矩、功率以及T-N曲线完成单负载模型电机减速机的选型。最后,以EpsonC8-A701S工业机器人第二关节为对象,论证该方法的正确性。
In order to solve the selection problem of motor reducer in the design process of six-axis industrial robot,the selection method of motor reducer with rotating joints is studied.Under the specific load and load eccentricity index,the single load model is established first,and the Step driving function is set according to the speed,acceleration and other indicators to complete the Motion simulation.Secondly,according to the simulated torque,power and T-N curve,the selection of single-load model motor reducer is completed.Finally,taking the second joint of Epson C8-A701S industrial robot as an object,the correctness of the method is demonstrated.
作者
开亚骏
魏平
张帅谋
KAI Yajun;WEI Ping;ZHANG Shuaimou(Anhui Technical College of Mechanical and Electrical Engineering,Wuhu 241002)
出处
《现代制造技术与装备》
2023年第6期198-201,共4页
Modern Manufacturing Technology and Equipment
基金
芜湖市智能焊接机器人工程技术研究中心(KJCXPT202201)。
