轻型机械臂模块化柔顺关节分析-(6191)

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1、哈尔滨工业大学工学硕士学位论文Finally,theexperimentalprototypehasbeenfinished.TheSVPWMandthepermanentmagnetsynchronousmotorvectorcontrolhasbeenverifiedandtestedontheexperimentalprototype.Theexperimentalresultshaveshownthatthedesignedflexiblejointcontrollerhasagoodcurrent,speedand

2、positionfollowingperformance,achievingtheexpectedgoal.Keywords：lightweightrobot,modularjoint,flexiblejoint,compliantcontrol哈尔滨工业大学工学硕士学位论文目录摘要..............................................................................................................IABSTRACT....

3、...............................................................................................II第一章绪论.............................................................................................11.1课题来源及研究的背景和意义.....................................................

4、11.1.1课题来源........................................................................................11.1.2研究的背景和意义........................................................................11.2模块化关节机械臂的国内外现状..................................................21.2.1机械臂模块化关

5、节设计的国内外研究现状.................................21.2.2具有柔性的模块化关节控制的国内外研究现状.........................51.3主要研究内容..............................................................................8第二章轻型机械臂模块化关节总体设计..................................................102.1引言.......

6、...................................................................................102.2模块化关节的技术指标确定......................................................102.2.1设计目的......................................................................................102.2.2模块化关节设计

7、指标确定方法..................................................102.3模块化关节的系统组成.............................................................132.4模块化关节的关键部件选型......................................................132.4.1永磁同步伺服电机...............................................

8、.......................142.4.2谐波减速器..................................................................................142.4.3电机位置传感器..............