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中文摘要：
本文以自动导引运输车（AutomatedGuidedVehicle，AGV）与4轴棉桶更换机器人（CottonBarrelHandlingRobot，CBHR）构成的复合机器人（DoubleRobot）为研究对象，分析了复合机器人的电源系统特征，给出了供电系统组成方案；分析了复合机器人的作业工况特征，对其功率进行了估算；选用S型加减速曲线作为机器人伺服驱动加减速变化规律，分析了4轴机器人一个作业循环中由于惯性的突变对供电系统引起的冲击；通过研究比较，选择磷酸铁锂电池作为系统电源，给出了动力电池的功率、电压及容量设计参数，确定了动力电池的电芯组合方案。
英文摘要：
This paper mainly talked about Double Robot that composed of the automatic guided vehicle(AGV)and the4axis Cotton Barrel cotton barrel replacement Handling Robot(CBHR),the features and composition scheme of power supply system of Double Robot was analyzed and provided;it analyzed the working condition characteristics,and estimates the power of Double Robot.Choosing s-shaped curve of the acceleration and deceleration as robot servo drive of the change law of acceleration and deceleration,the impact on the power supply system due to the inertia of mutation in a working cycle of the robot was analyzed.By contrast,the Lithium iron phosphate batteries were selected as power supply system and the design parameters of the power and the voltage as well as the capacitance of power battery were provided.In addition,the batteries combination program of power battery was confirmed.
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