| 洪建忠,冉光斌,余小勇,扬永生,刘小刚,陈磊,刘仕钊.土工离心机多轴机器人系统设计综述[J].装备环境工程,2015,12(5):34-39. HONG Jian-zhong,RAN Guang-bin,YU Xiao-yong,YANG Yong-sheng,LIU Xiao-gang,CHEN Lei,LIU Shi-zhao.Design of Multi-axis Robotic Manipulator on Geotechnical Centrifuge[J].Equipment Environmental Engineering,2015,12(5):34-39. |
| This paper detailedly introduced the multi-axis robot manipulator of geotechnical centrifuge－one of the most important facilities for in-flight centrifuge test. Based on the summary of similar facility in the world, the paper focused on the multi-axis robot manipulator manufactured by the Institute of Systems Engineering. The paper introduced the key technical issues and difficulties in the design of the structure and the electrical control system. The maximum load capacities of the robot can reach up to ±10 N·m torque, and ±2500 N, ±2500 N, ±18000 N forces in the x, y, z directions. With the development of multi-axis robot manipulator, the multi-axis robotic manipulator will play a more important role in geotechnical centrifuge tests. |
