串联机器人加速度性能指标分析  

Analysis for Acceleration Performance Indices of Serial Robots

作　　者：郭希娟[1] 耿清甲[2] 

机构地区：[1]燕山大学信息与工程学院,秦皇岛066004 [2]河北科技师范学院计算机系,秦皇岛066004

出　　处：《机械工程学报》2008年第9期56-60,共5页Journal of Mechanical Engineering

基　　金：河北省自然科学基金(E2006000208)。

摘　　要：以串联机构速度、加速度公式为出发点,通过理论推导提出一种同时基于机构一阶Jacobian影响系数矩阵和二阶Hessian影响矩阵的串联机构加速度性能度量指标,包括加速度性能指标、线加速度性能指标和角加速度性能指标。采用GOSSELIN提出的机构全域性能指标定义方法定义串联机构加速度全域性能指标、线加速度全域性能指标以及角加速度全域性能指标。最后,采用上述指标对串联工业机器人PUMA260机构进行实例分析,给出相应的性能图谱。结果表明,Hessian矩阵对机构加速度性能指标有着更重要的影响,度量指标在机构动力学性能分析中是可行的。Through theoretical derivation from mechanism＇s velocity and acceleration formulae, serial mechanism＇s acceleration performance indices, including acceleration, angular acceleration and linear acceleration performance indices are defined based on mechanism＇s first-order and second-order influence coefficient matrices. By using definition of mechanism＇s global performance index put forward by GOSSELIN, serial mechanism＇s global performance indices of acceleration, angular acceleration and linear acceleration are presented. At last, by using previous index, PUMA 260 serial industrial robot＇s dynamic performance is analyzed, and the performance atlases are given. The results show that Hessian matrix plays a more important role in acceleration performance, and these new indices are feasible in mechanism＇s dynamic performance analysis.

关 键 词：串联机器人 性能指标 影响系数矩阵 

分 类 号：TP24[自动化与计算机技术—检测技术与自动化装置]