動力伝達系を考慮したマニビュレータリンク機構の駆動トルク

抄録

Although most robot manipulators have many transmission gears, there have been few investigations of the torque calculation considering the power transmission system. This paper presents an expression for the torque at the motor driving the links of the manipulator with a complex transmission system including planetary gear mechanisms. Though this expression is derived by NewtonEuler method, it has a closed form. The torque expression is linear in inertial parameters formed by the combination of all dynamical parameters of main links and transmission parts. An investigation of the minimum set of dynamical parameters including those of transmission parts is made. An application for an industrial manipulator with 6 degrees-of-freedom is given.