Energy Distribution Index for robot manipulators and its application to buffering capability evaluation  

作　　者：WANG Hao ZHAO Kai CHEN GenLiang LIN ZhongQin 

机构地区：[1]State Key Laboratory of Mechanical System and Vibration, Shanghai Jiao Tong University, Shanghai 200240, China [2]Shanghai Key Laboratory of Digital Autobody Engineering, Shanghai Jiao Tong University, Shanghai 200240, China

出　　处：《Science China(Technological Sciences)》2011年第2期457-470,共14页中国科学（技术科学英文版）

基　　金：supported by the National Natural Science Foundation of China(Grant No.51075259,50821003);the National Basic Research Program of China("973"Program)(Grant No.2006CB705400)

摘　　要：This paper proposes an approach to evaluate the performance of robot manipulator from the view of energy analysis. Based on the dynamics analysis of the manipulator, the Energy Distribution Index （EDI） is defined to depict the energy increment contribution of its subsystem to the whole manipulator. EDI is applied to the evaluation of the buffeting capability of the manipulator working under unpredictable and heavy external loads. A series of buffering indices, the Static Buffering Index （SBI）, Kineto-Static Buffering Index （KBI）, Dynamic Buffering Index （DBI）, and Global Buffering Index （GBI） are proposed to evaluate the buffering capability under different conditions. In order to acquire higher calculation accuracy, the general stiffness mapping of manipulators considering the actuator stiffness, inertia of the manipulator, damping, as well as elasticity of linkages is developed. Three different robot manipulators are studied as evaluation cases, in which the buffering structures are mechanism with variable topology, linear springs, and the elasticity of linkages respectively. The case studies show that the indices based on energy analysis have the advantage of coordinate free and are effective for buffering capability evaluation.

关 键 词：robot manipulator performance evaluation energy analysis stiffness mapping 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置] X517[自动化与计算机技术—控制科学与工程]