1. 哈尔滨工程大学机电学院，黑龙江，哈尔滨 150001； 2. Fraunhofer Institute IPK，柏林 10587，德国
Dynamics Analysis of Five-bar Cobot Based on Differential Mechanism
ZHANG Lixun1, LU Dunmin1, WANG Lan1, SHEN Jinhua1, R. Bernhardt2
1.College of Mechanical and Electrical Engineering, Harbin Engineering University, Harbin 150001, China; 2. Fraunhofer Institute IPK, Berlin 10587, Germany
张立勋, 路敦民, 王岚, 沈锦华, R. Bernhardt. 基于差动机构的五连杆式人机合作机器人的动力学分析[J]. 机器人, 2004, 26(2): 123-126..
ZHANG Lixun, LU Dunmin, WANG Lan, SHEN Jinhua, R. Bernhardt. Dynamics Analysis of Five-bar Cobot Based on Differential Mechanism. ROBOT, 2004, 26(2): 123-126..
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.
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