PUMA-560型机器人传动系统分析

An Analysis of PUMA 560 Robot Transmission System

摘要: 本文比较详细地分析了PUMA-560机器人传动系统的传动形式、参数选择、设计计算以及腕部各关节传动链的联系；概述了机器人系统的特性，并对传动系统的齿轮传动间隙调整机构和润滑系统进行了简要分析；总结出工业机器人传动系统的普遍设计原则；为工业机器人传动系统的设计和分析提供了具体方法．

Abstract: This paper details the robot transmission system,parameter selection,designing,computing and relation of each wrist transmission unit of Robot PUMA 560,and outlines its system's specifications,gear backlash adjustment unit and lubrication unit.Itgives a general concept and method to design and analyze the robot transmission system.