Study of the Kinematics for the Serial Robot on the Controllable Polishing Force

摘要

This paper puts forward a multi-robot system which is made up of the MOTOMAN - HP3 serial robot and NPT800 parallel robot. Based on the mechanics model and dynamics equations that are established of the robot, the mechanical characteristics of the end for the grinding are analyzed. By applying the constant load and the functional load on the polishing end, the force and torque diagram for each of the robot arm joint are obtained. In the end, the conclusion that the force and the torque of the first joint is the largest can be obtained and the force of joint can keep the good constancy.