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《Modular Machine Tool & Automatic Manufacturing Technique》 2011-01
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Dynamics Analysis of Clean Room Robot's Lifting Mechanism Based on Kane Method

WANG Feng-li,FENG Ya-lei,DONG Ji-shun,LI Xue-wei,LIU Chang-bin(Siasun Robot& Automation Co.,LTD.,Shenyang 110168,China)  
The lifting mechanism of articulated robots which are used in areas for flat glass substrates handling is studied,considering the character that the lifting mechanism is composed of two serial parallel four-bar linkages and there are complex nonlinear dynamic couplings among those components,kane method is used to establish the recursive dynamic equations of the lifting mechanism,and the dynamics performance of the driving joints is simulation analyzed based on the dynamic equations,the results show that extending the accelerating period of the driving joints is a practicable way to make the running more smoothly,so theoretical basis for robotic mechanism's optimized design and smooth control is provided.
【Fund】: 国家863/FPD基板搬运机器人及自动化成套装备的开发与应用(2009AA04Z218)
【CateGory Index】: TP242
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