| 摘要 |
A method for an external force to drive a moving piece in a mechanical joint, wherein less force is used to drive the moving piece in the mechanical joint. The joint comprises a stationary piece, the moving piece and a driving mechanism (13), the driving mechanism comprises a servomotor (131), a driver (132) and an encoder (133), and the servomotor is connected to the moving piece. The driving method is: when the joint is in a stationary state, the servomotor is in a torque mode, and the servomotor outputs a resistance-reducing torque having a direction which changes with time; the external force is used to drive the moving piece, so that the moving piece moves with respect to the stationary piece; the driver determines the movement direction of the moving piece according to an output of the encoder; if the moving piece is moving in a positive direction with respect to the stationary piece, the servomotor is controlled to stop outputting the resistance-reducing torque or output an assistance torque enabling the moving piece to have a positive direction movement trend; if the moving piece is moving in reverse with respect to the stationary piece, the servomotor is controlled to stop outputting the resistance-reducing torque or output an assistance torque enabling the moving piece to have a reverse movement trend. |
