生物检测机器人操作臂工作空间分析与尺度优化  

Workspace Topologies and Dimensional Synthesis for Biological Detection Manipulator

作　　者：刘亚军[1] 徐新喜[1] 黄田[2] 

机构地区：[1]军事医学科学院卫生装备研究所,天津300161 [2]天津大学机械工程学院,天津300072

出　　处：《机械工程学报》2015年第3期51-57,共7页Journal of Mechanical Engineering

基　　金：中国博士后基金(2014M552580);全军后勤科研'十二五'重大项目(13CXZ020)资助项目

摘　　要：研究一种具有正交关节轴的6R操作臂工作空间分析与尺度优化方法,用于指导危险环境下生物检测机器人上装机械臂的工作范围和结构尺度优化。分析6R操作臂拓扑结构并建立其位移逆解模型,通过考察各关节尺度参数与转角变化范围的组合,揭示出可达工作空间随操作臂主要构件尺度参数与关节转角范围的变化规律,从而得到一种最佳的关节转角范围组合,进而建立一种操作臂任务空间的快速计算方法。在此基础上,以特征长度法和计权Frobenius范数构造的归一化速度雅可比矩阵条件数的倒数为性能评价指标,综合出一组最优操作臂结构尺度参数,并得到该条件下操作臂末端的可达工作空间和任务空间。该方法具有工作空间分析直观,结构参数优化快速等优点,可使这类操作臂获得良好的运动学性能。A methodology of the workspace analysis and dimensional synthesis is presented for a kind of orthogonal 6R manipulator, which can be used on the biological detection robot in dangerous environment, helps to guide the task space analysis and structural optimization for the manipulator. On the basis of structural topologies and inverse displacement analysis, the influence of the dimensional parameters and allowable joint ranges on the profile of reachable workspace is investigated, leading to an optimum combination of joints ranges and a fast calculation method for the task space of the manipulator, then a set of optimized structural dimensions is also obtained for the manipulator by maximizing the reciprocal of the condition number of homogeneously dimensionless Jacobian matrix, constructed by the characteristic length and the weighted Frobenius norm. The reachable workspace and task space of the manipulator are also provided. An example is given to illustrate the effectiveness of this approach, making the advantages of clear results and easy for solvers with the manipulator having optimized flexibility performance.

关 键 词：生物检测机器人 6R操作臂 特征长度 工作空间分析 尺度优化 

分 类 号：TH112[机械工程—机械设计及理论]