Characteristic Evaluation and Comparisons of Robotic Mechanisms. 2nd Report. Evaluation of Robotic Mechanisms Subjected to Impact Load.

摘要

The more quickly robots move, the more frequently impact is applied to their mechanisms. Such impact makes control of robots difficult, and may even damage their driving systems. Therefore it is required to clarify the behavior of impact torque occurring at the input shafts of robotic mechanisms subjected to impact, and to establish evaluation methods of such behavior. We have already reported that the static characteristics of the representative robotic mechanisms change with the mechanism configurations. Therefore it is presumed that the impact characteristics of robotic mechanisms will also change with their configurations. We analyze the impact behavior of the representative open-loop and closed-loop robotic mechanisms subjected to impact load using a dynamic finite-element method to clarify the impact characteristics of several configurations of these robotic mechanisms. Based on the results, we describe the relation between the impact torque behavior and attitudes of each robotic mechanism. Furthermore, this paper proposes an evaluation method of the impact characteristics of the robotic mechanisms from their static characteristics.