Friction Coefficient Selection of the Robot Travelling Mechanism and Structure Improvement of the Driving Structure

Liao Xiaoji; Fan Qiyong

doi:10.16578/j.issn.1004.2539.2017.08.019

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Friction Coefficient Selection of the Robot Travelling Mechanism and Structure Improvement of the Driving Structure

更新时间：2022-10-20

- Friction Coefficient Selection of the Robot Travelling Mechanism and Structure Improvement of the Driving Structure
- Vol. 41, Issue 8, Pages: 90-93(2017)
- 作者机构：
  
  1. 唐山工业职业技术学院汽车工程系
  2. 唐山工业职业技术学院自动化工程系
- 作者简介：
- 基金信息：
- DOI：10.16578/j.issn.1004.2539.2017.08.019
  CLC：
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[1]廖小吉,樊启永.机器人行走机构摩擦因数选定及驱动结构改进[J].机械传动,2017,41(08):90-93.

Liao Xiaoji, Fan Qiyong. Friction Coefficient Selection of the Robot Travelling Mechanism and Structure Improvement of the Driving Structure. [J]. 41(8):90-93(2017)
[1]廖小吉,樊启永.机器人行走机构摩擦因数选定及驱动结构改进[J].机械传动,2017,41(08):90-93. DOI： 10.16578/j.issn.1004.2539.2017.08.019.

Liao Xiaoji, Fan Qiyong. Friction Coefficient Selection of the Robot Travelling Mechanism and Structure Improvement of the Driving Structure. [J]. 41(8):90-93(2017) DOI： 10.16578/j.issn.1004.2539.2017.08.019.

摘要

以理论计算为基础,结合实际工厂中使用的经验数据,针对机器人行走机构出现的爬行现象,对机器人行走机构导轨摩擦因数的设定进行校核论述并对其驱动组件结构进行了设计改进。以现代工业中常用的典型机器人行走机构为例,概述其基本结构,针对其实际应用中出现的爬行现象,将理论上的反推法与实际应用中的示教再现法相辅使用,完成了重型机器人行走机构导轨摩擦因数的重新校核,推导出参考经验值,并完成其驱动系统结构上的设计改进。

Abstract

The checking of the robot travelling mechanism friction coefficient and a design refinement of the driving structure is carried out based on theoretical calculation and rule of thumb data,facing the creeping phenomenon of the robot travelling mechanism. Taking the typical robot travelling mechanism that common used in the modern industry as examples,a description of its basic structure is carried out,aiming at the creeping phenomenon happened in the practical application,the checking of the friction coefficient of the heavy robot travelling mechanism is carried out based on the combination of inverse method and teaching-playing,also the reference experience value is elicited and the design refinement of the driving structure is finished.

关键词

机器人行走机构爬行摩擦因数驱动系统

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