Analysis of the Kinematics for the Polishing Robot on the Controllable Flexibility

Xin An; Miao Yu; Jing Ji

doi:10.4028/www.scientific.net/AMR.753-755.2054

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HomeAdvanced Materials ResearchAdvanced Materials Research Vols. 753-755Analysis of the Kinematics for the Polishing Robot...

Analysis of the Kinematics for the Polishing Robot on the Controllable Flexibility

Abstract:

This paper aims to study the system of the compliant control for the polishing robot .Based on the mechanics model and dynamics equation that is established of the robot, the mechanical characteristics of the end of the grinding is analyzed. At the same time, the simulation of the movement for the robot is carried on by the ADAMS. By applying the constant load and the functional load on the polishing end, the force and torque diagram for each of the robot arm joint are obtained. At last, the conclusion that the force and the torque of the first joint is the largest can be obtained and the force of joint can keep the good constancy.