双臂机器人机构速度和力方向可操作度研究  

Research on mechanism velocity and manipulability measures of force direction of dual armed robot

作　　者：陈安军 马学文[2] 

机构地区：[1]江南大学机械工程学院,江苏无锡214036 [2]信阳师范学院网络信息与计算中心,河南信阳464000

出　　处：《机械设计》2004年第12期32-35,共4页Journal of Machine Design

基　　金：河南省自然科学基金资助项目 (0 2 1 1 0 51 80 0 ) ;河南省高校青年骨干教师资助项目 ;江南大学"2 1 1工程"资助项目

摘　　要：在机构速度、力可操作椭球基础上 ,定义了双臂机器人机构速度和力方向可操作度 ,以方向可操作度为目标函数 ,给出了机构最佳传速、最佳传力方向和最佳操作位形的优化方法 。On the basis of manipulability ellipsoid of mechanism velocity and force, the mechanism velocity and the directional manipulability measures of force of dual armed robot were defined. Taking the manipulability measures of direction as the function of target, the optimization method on mechanism's optimal transmission velocity, optimal direction of force transmission and optimal manipulative configuration was presented. The result showed that the force transmission property of dual armed mechanism is better than that of single armed mechanism.

关 键 词：双臂机器人 可操作椭球 方向可操作度 优化方法 

分 类 号：TP24[自动化与计算机技术—检测技术与自动化装置]