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机械手及机器人(本文简称机械手)是自动化生产的一种有前途的工具,随着科学、工业、农业及国防向现代化方向发展,其应用范围将日益广泛。工业生产及其它作业要求机械手工作速度快(在200～2000毫米/秒),运动平稳,起动及定位时不发生明显的冲击现象,保证必要的定位精度。采用大的加速度和减速度,可实现动作速度快的要求。但是,不连续的巨大加、减速度会引起机械冲击和振动。定位时若无驱动压力,惯性冲击力将会把手推回,定位精度很低。
Robots and robots (referred to as robots for short) are a promising tool for automated production. As science, industry, agriculture and defense advance toward modernization, their applications will be increasingly widespread. Industrial production and other operations require robots work fast (at 200 ~ 2000 mm / sec), smooth movement, starting and positioning no significant impact phenomenon, to ensure the necessary positioning accuracy. The use of large acceleration and deceleration, can achieve the requirements of fast action. However, large discontinuous acceleration and deceleration can cause mechanical shock and vibration. Positioning without driving pressure, inertial impact will push the handle back, positioning accuracy is low.