Robots with variable mechanical impedance

摘要

Robots with variable mechanical impedance with drives redundancy are considered. The authors analyze the structure and the principles of synthesis of such robots with respect to their kinematic diagrams with controlled bizonal gearing, coordinate electromechanical drive control and controlled accommodation approach under undetermined technological effects. Three usages of robots with variable mechanical impedance are discussed. The experimental results illustrate the capability of these robots to realize precise motion, irrespectively of the changes in the forces of the technological interaction.< <ETX xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">&gt;</ETX>