Kinematic and Force Analysis of Robot with Adaptive Electric Drives

摘要

Kinematic and force analysis of robot in which each module has the adaptive electric drive is considered. The adaptive electric drive contains electric motor and adaptive transmission mechanism with two degrees of freedom. Definability of motion of the adaptive electric drive is confirmed by experimental check. The adaptive drive is extremely simple in design. It has transfer ratio depending on loading only at the expense of mechanical properties and does not demand any control. The equations of adaptive mechanism parameters interconnection are developed. Stop regime of motion at motionless end-effector of the module allows to avoid an overloading and to overcome emergencies. In the robot with adaptive drives of modules the stop regime of motion can be overcome at the expense of motions of other modules leading to decrease of resistance.