| Dynamics of five-bar COBOT using differential mechanism |
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| 作者姓名： | BERNHARD R. |
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| 作者单位： | Fraunhofer Institute |
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| 基金项目： | the National Natural Science Foundation of China( 60275030)，Harbin Science and Technology Bureau(2002AFLXJ004) |
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| 摘 要： | COBOT is a new kind of collaborative robot, which can work with people in a shared space. In this paper a new kind of CVT using differential mechanism is introduced, which is major parts of five-bar COBOT and based the feature of nonhlonnmie constraint. The dynamic model of differential mechanism and five-bar architecture COBOT is founded. There are two kinds of coupled mode of two CVT:serial and parallel. In this paper, we present the dynamic model of serial and parallel COBOT take five-bar COBOT as research object. From the dynamic analysis foregoing, both serial and parallel COBOT model are have the feature of nonholonomic constraint. The ending track and moving state are controlled by the force of control motor and operator. The control motor can not control the movement and ending track of COBOT witbout the cooperation of cperator.
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| 关 键 词： | COBOT 机器人 CVT 差动机械 雅可比矩阵 动力学分析 |
Dynamics of five-bar COBOT using differential mechanism |
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| BERNHARD R..Dynamics of five-bar COBOT using differential mechanism[J].Journal of Marine Science and Application,2003,2(2):72-75. |
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| Authors: | Zhang Li-xun Lu Dun-min Wang Lan Shen Jin-hua Bernhard R |
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| Institution: | (1) Schoot of Mechanical and Electrical Engineering, Harbin Engineering University, 150001 Harbin, China;(2) Fraunhofer Institute IPK, 10687 Berlin, Germany |
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| Abstract: | COBOT is a new kind of collaborative robot , which can work with people in a shared space. In this paper a new kind of CVT using differential mechanism is introduced, which is major parts of five-bar COBOT and based the feature of nonhlon-nmic constraint. The dynamic model of differential mechanism and five-bar architecture COBOT is founded. There are two kinds of coupled mode of two CVT:serial and parallel. In this paper, we present the dynamic model of serial and parallel COBOT take five-bar COBOT as research object. From the dynamic analysis foregoing, both serial and parallel COBOT model are have the feature of nonholonomic constraint. The ending track and moving state are controlled by the force of control motor and operator. The control motor can not control the movement and ending track of COBOT without the cooperation of operator. |
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| Keywords: | COBOT five-bar differential mechanism CVT |
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