任务空间上的机器人灵活性评价方法  

Assessment of robot flexibility in task space

作　　者：张永贵[1] 刘文洲[1] 高金刚[1] 沈浩[1] 

机构地区：[1]兰州理工大学机电工程学院,甘肃兰州730050

出　　处：《兰州理工大学学报》2015年第1期37-41,共5页Journal of Lanzhou University of Technology

基　　金：国家自然基金(51065017);甘肃省自然科学基金(0916RJZ001)

摘　　要：从机器人的一个具体操作任务空间在其整个工作空间中的位姿最优问题出发,在对国内外学者提出的不同的机器人灵活性指标进行分析的基础上,提出一种在任务空间内评价机器人操作灵活性的方法,即以空间内平均灵活性指标和最差灵活性指标及二者之差联合评价机器人在任务空间内整体灵活性及指标的波动性,采用二者之乘积最大化为优化目标函数,确定了机器人操作任务所构成的任务空间相对于机器人本身的最佳位置.Aimed at the problem of optimal position and attitude of robot with a specific task space in its entire work-space and based on the analysis of flexibility indexes of various industry robots proposed by scholars at home,and abroad,a method was presented for assessing robot flexibility in task space.Namely,the average flexibility index,the worst flexibility index,and the difference of these two indexes were taken into account to jointly evaluate the overall flexibility and index fluctuation of the robot in its task space.And by taking the maximum product of the two indexes as the objective function of optimization,the optimal position of robot＇s specific task space relative to the robot itself was determined.

关 键 词：机器人 灵活性 任务空间 全域性能指标 

分 类 号：TH11[机械工程—机械设计及理论]