دانلود مقاله ISI انگلیسی شماره 18212
عنوان فارسی مقاله

تعادل استاتیک بازوهای ربات های صنعتی: قسمت دوم: تعادل مداوم

کد مقاله سال انتشار مقاله انگلیسی ترجمه فارسی تعداد کلمات
18212 2000 13 صفحه PDF سفارش دهید 3820 کلمه
خرید مقاله
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عنوان انگلیسی
The static balancing of the industrial robot arms: Part II: Continuous balancing
منبع

Publisher : Elsevier - Science Direct (الزویر - ساینس دایرکت)

Journal : Mechanism and Machine Theory, Volume 35, Issue 9, 1 September 2000, Pages 1299–1311

کلمات کلیدی
- ربات های صنعتی - تعادل استاتیک - تعادل مداوم -
پیش نمایش مقاله
پیش نمایش مقاله تعادل استاتیک بازوهای ربات های صنعتی: قسمت دوم: تعادل مداوم

چکیده انگلیسی

The paper presents some new constructional solutions for the balancing of the weight forces of the robot arms, using the elastic forces of the helical springs. The balancing is exactly realised in all points of work field by using the elastic system which contains the high pair mechanisms. For the performance study of the static balancing mechanisms, a new notion, namely efficaciousness coefficient, is defined. This coefficient is equal to the ratio of the mechanical work consumed for acting the unbalanced arm and the mechanical work consumed for moving the balanced arm. The static balancing mechanism is useful if the efficaciousness coefficient is greater than one. Finally, the results of solving a numerical example are presented.

مقدمه انگلیسی

The exact balancing of the weight force of an industrial robot arm, for any value of its position angle contained in the work field, continuous balancing in other words, may be made with the elastic system that contains a cam mechanism. The drawback of having a higher pair between cam and follower roll is set off by the accuracy of balancing. The cam may be fixed on frame or on arm, and may have a rotational or a translational motion. In order to study the performances of the static balancing mechanisms, a new notion, namely efficaciousness coefficient, is defined. This coefficient is equal to the ratio of the mechanical work consumed for acting the unbalanced arm and the mechanical work consumed for moving the balanced arm. The static balancing mechanism is useful if the efficaciousness coefficient is greater than one.

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