柔性臂机器人协调操作的承载能力  

Bearing Capacity of Cooperating Robot with Flexible Link

作　　者：张成新[1] 余跃庆[1] 

机构地区：[1]北京工业大学机械工程与应用电子学院,北京100022

出　　处：《北京工业大学学报》2001年第4期505-510,共6页Journal of Beijing University of Technology

基　　金：国家自然科学基金资助项目(59975001)

摘　　要：提出了一种确定柔性臂机器人协调操作承载能力的方法．借助基于绝对坐标并以期望轨迹为实际边界条件的逆动力学模型、通过规划载荷分配系数，可求出机器人的最优载荷分配比例和最大承载能力．就两个三柔性臂机器人协调操作刚性负载进行了仿真，说明了提出的方法的有效性．A method is presented for computing the dynamic load-carrying capacity of cooperating robot with flexible link. By means of the inverse dynamics model in which the anticipated trajectory is handled as practical boundary constraints in absolute coordinates, the dynamic load-carrying capacity is treated as a linear programming problem. The optimum load-distribution and maximum allowable dynamic load-carrying capacity are obtained by programming load-distribution coefficient The effectiveness of the method is demonstrated through simulation of two flexible-link 3R manipulators cooperating a rigid load.

关 键 词：柔性臂机器人 协调操作 承载能力 逆动力学模型 载荷分配系数 刚性负载 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]