基于差动机构的五连杆式人机合作机器人的动力学分析

Dynamics Analysis of Five-bar Cobot Based on Differential Mechanism

摘要: 介绍了一种基于差动机构的新型CVT（连续变速传动机构），通过CVT之间的不同耦合方法，构成了并联式和串联式人机合作机器人．分析了基于差动机构的人机合作机器人的工作原理，建立了差动机构的动力学模型．以五连杆式人机合作机器人为研究对象，分别建立了串联式和并联式人机合作机器人的动力学模型．

Abstract: A new kind of CVT(Continuously Variable Transmission) and COBOT (Collaborative robot) based on differential mechanism is introduced. There are two kinds of COBOT models: the serial and parallel. The principle of COBOT is analyzed and the dynamic model of COBOT is established. Taking the five-bar COBOT as a prototype,the dynamics of serial and parallel COBOT model is developed.