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The Influence of the Friction Forces and the Working Cyclogram upon the Forces of a Robot

机译:摩擦力和工作周期图对机器人力的影响

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摘要

The paper presents a calculation method of the forces and the moments that operate in the rotation and translation couplings from the serial industrial robots structure. Through using some methods and calculation programs, the forces and moments, used for dimensioning the mechanisms and driving motors from couplings, can be accurately determined. The theoretical relations and the calculations programs also take into consideration the friction forces acting in couplings and the working cyclogram.
机译:本文提出了一种从串行工业机器人结构中旋转和平移耦合中作用的力和力矩的计算方法。通过使用一些方法和计算程序,可以准确确定用于确定机构尺寸和通过联轴器驱动电机的力和力矩。理论关系和计算程序还考虑了作用在联轴器和工作环图中的摩擦力。

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