摘要
Toincreasethecompetitionofthesolarenergycollectionsystem,thesizeofthesolarpanelmoduleduringthemanufacturingprocessisbeingincreasedcontinuously.Asthesizeofthesolarpanelincreases,thesizeoftherobottohandlethepanelincreasedalso.Thechangeinscaleoftherobotinevitablyresultsintheamplificationoftheadverseeffectoftheflexure.Themainsourceoftheflexureinthelargescalesolarcellpanelhandlingsystemisthelongandthinforkfingersofthehandandthesolarcellpanel.Inaddition,thebelt-drivenactuatorsystemusedbymostofthelargescalepanelhandlingrobotisanothersignificantsourceofthevibration.Inthispaper,theflexiblemultibodydynamicmodelofalargescalesolarcellpanelhandlingrobot,whichisbeingdesignedandconstructedwiththehelpofKyungHeeUniversity,isdeveloped.Thebelt-drivensystemintherobotisalsomodeledasflexiblesystemandincludedintherobottorepresenttheactualvibrationcharacteristicsoftheactuatorsystem.
出版日期
2013年01月11日（中国期刊网平台首次上网日期，不代表论文的发表时间）
