Mechanism Analysis and Dynamic Experiment Research of KUKA IR 662/100 Robot

Xiau Kuitong

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Mechanism Analysis and Dynamic Experiment Research of KUKA IR 662/100 Robot

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- Mechanism Analysis and Dynamic Experiment Research of KUKA IR 662/100 Robot
- Optics and Precision Engineering Vol. 0, Issue 2, Pages: 56-58(1989)
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- Published Online：15 April 1989，
  
  Published：15 April 1989
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咸奎桐. KUKA IR 662/100型机器人机构学分析及动力学实验研究[J]. 光学精密工程, 1989,(2): 56-58

Xiau Kuitong. Mechanism Analysis and Dynamic Experiment Research of KUKA IR 662/100 Robot[J]. Editorial Office of Optics and Precision Engineering, 1989,(2): 56-58
咸奎桐. KUKA IR 662/100型机器人机构学分析及动力学实验研究[J]. 光学精密工程, 1989,(2): 56-58 DOI：

Xiau Kuitong. Mechanism Analysis and Dynamic Experiment Research of KUKA IR 662/100 Robot[J]. Editorial Office of Optics and Precision Engineering, 1989,(2): 56-58 DOI：

摘要

本文结合KUKA IR 662/100型机器人

系统地分析了它的传动机构、平衡机构、工作空间;给出了用中间坐标系进行快速坐标变换的六自由度全转动机器人运动学

正、逆问题的解析解

利用L氏方程对前三个关节建立了动力学模型

提出了动力学模型的参数辨识方法

并给出了用系数参数表示的机器人逆动力学问题的快速算法

最后

对该机器人的动力学特性进行了实验验证。

Abstract

This paper analyses the transmission mechanism

balance mechanism and work space of KUKA IR 662/100 Robot in a syst-ematic way. The author gives an analytic solution for kinematic positive and converse problem of the six-freedoms rotary robot in fast coordinate transformation with middle coordinate system

founds the dynamics model of the front three joints using Lagrange equation

suggests a method of the parameter identification of the dynamics model and gives the fast algorithm of the robot converse dynamics problem expressing with coefficient parameter. In the last

the author demonstrates the dynamics characteristic of this robot in experiment.

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