机器人运动灵活性问题的研究  

Study on dexterity of robot manipulators

作　　者：谢碧云[1] 赵京[1] 

机构地区：[1]北京工业大学机械工程与应用电子技术学院,北京100124

出　　处：《高技术通讯》2010年第8期856-862,共7页Chinese High Technology Letters

基　　金：国家自然科学基金(50775002)资助项目

摘　　要：对各类现有机器人的运动灵活性指标进行了分析比较,并且提出了一个新指标。同时,定义了指标灵敏度的概念,用来评价机器人灵活性的稳定性。基于这些运动灵活性指标,对平面机器人和空间机器人的运动灵活性进行了数值仿真研究,并对各指标优化结果进行了比较。结果表明,采用该指标对机器人的运动灵活性进行优化,机器人的综合灵活性更好。The analysis and comparison of the different traditional dexterity measures of manipulators was made, and a new dexterity measure was presented. Furthermore the sensitivity of the measure was defined, which can be used to evaluate the stability of the dexterity. Based on these measures, the kinematic dexterity of planar and spatial robots was studied. Meanwhile the dexterity of the optimization results in different dexterity measures are compared. From the results obtained it can be observed that the optimal posture determined by the new measure is more dexterous.

关 键 词：运动灵活性 条件数 可操作度 各向同性 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]