双臂机器人机构速度方向可操作性研究  

Velocity Directional Manipulability Measures of Dual Armed Robot

作　　者：陈安军 许佩霞 李国梁[2] 

机构地区：[1]江南大学机械工程学院,江苏无锡214122 [2]信阳师范学院网络信息与计算中心,河南信阳464000

出　　处：《南京理工大学学报》2005年第2期202-205,共4页Journal of Nanjing University of Science and Technology

基　　金：河南省自然科学基金 ( 0 2 110 5 180 0 );河南省高校青年骨干教师资助项目;江南大学'2 11工程'资助项目

摘　　要：针对双臂机器人机构的速度传递性能进行研究。在单臂机器人机构速度可操作椭球和方向可操作度的基础上,定义了双臂机器人机构速度和角速度方向可操作度,度量双臂机器人在当前位形状态下沿指定方向的传速能力,以方向可操作度为目标函数,给出了最佳传速方向和最佳操作位形的优化方法。结果表明,双臂机构的传速能力小于同一系统中任单臂机构。For the dual armed robot, the velocity transmission characteristics were discussed.On the basis of the manipulability ellipsoid and the directional manipulability measure of single armed mechanism velocity, the directional manipulability measures of linear velocity and rotation velocity of dual armed mechanism were defined and the velocity transmission characteristics were measured in a special direction under a designated posture. Taking the manipulability measure of direction as the function of target, the optimization methods of optimal direction of transmission velocity and optimal manipulative configuration were given. The results show that the velocity transmission property of dual armed mechanism is weak, but it is smoother than that of the single armed mechanism in different directions.

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]