冗余机械手的形状变化可操作性理论分析及其井下应用  

Theoretical analysis of reconfiguration operability of redundant manipulators

作　　者：郭西进[1] 汪秀[1] 张彤晓[1] 见浪護 宋薇[3] 

机构地区：[1]中国矿业大学,江苏徐州221008 [2]日本岡山大学 [3]上海大学

出　　处：《矿山机械》2010年第24期38-44,共7页Mining & Processing Equipment

摘　　要：受可操作性理论和可操作性椭圆的启发,提出了形状变化可操作性理论和形状变化可操作性椭圆。形状变化可操作性表示了当冗余机械手的手臂末端被给定任务时,其余中间关节的形状变化性能。并对可操作性椭圆和形状变化可操作性椭圆进行了比较和分析,形状变化可操作性理论的提出对于井下作业有着重要的实际意义。Inspired by operability theory and operability ellipsoid,the theory of reconfiguration operability and ellipsoid of reconfiguration operability were presented.The reconfiguration operability represented shape changeability of the rest intermediate joints when arm end of redundant manipulator was given a task.Then,operability ellipsoid and reconfiguration operability ellipsoid were compared and analysed.The proposed theory of reconfiguration operability has important and practical meanings for underground operation.

关 键 词：冗余机械手 形状变化可操作性 形状变化可操作性椭圆 

分 类 号：TP241.2[自动化与计算机技术—检测技术与自动化装置]