弹药装填机器人运动性能分析  

Movement Performance Analysisof Ammunition Loading Robot

作　　者：徐达[1] 李洋[1] 罗业[1] 

机构地区：[1]装甲兵工程学院兵器工程系,北京100072

出　　处：《机械设计与制造》2016年第1期50-53,共4页Machinery Design & Manufacture

基　　金：军队科研计划项目(2013CJ49)

摘　　要：针对弹药装填机器人在工作空间中存在奇异位形与速度失控问题,建立了弹药装填机器人的机构模型与旋量参数,求解了弹药装填机器人的雅可比矩阵,通过分析雅可比矩阵的秩,得到了机构的奇异位形,通过分析弹药装填机器人奇异位形区域的雅可比条件数,得到了弹药装填机器人速度失控位形区域,基于末端执行器速度椭球分析了弹药装填机器人的可操作度,雅可比条件数和可操作度两种指标从不同角度反映了弹药装填机器人的灵巧性。提出的弹药装填机器人奇异性与灵巧性分析方法有效提高了弹药装填机器人的运动精度和速度稳定性。Aiming at the problem that singularityconfiguration and lost control of speed exist in working space of ammunition loading robot,mechanical model and screw parameters of ammunition loading robot was established,the jacobian matrix of ammunition loading robot was calculated,and the singularityconfiguration of ammunition loading robot was obtained by analyzing the rank of jacobian matrix,the area of unstable speed in working space was also obtained by analyzing the jacobianmatrix condition number of singularityconfiguration area,analyzing the manipulability of ammunition loading robot based on end-effector velocity ellipsoids,the jacobianmatrix condition number and manipulability reflecting the dexterity of ammunition loading robot from different perspective. The methods that analyze the singularity and dexterity of ammunition loading robot can improve the movement precision and speed stability ofammunition loading robot effectively.

关 键 词：弹药装填机器人 奇异位形 可操作度 雅可比条件数 

分 类 号：TH16[机械工程—机械制造及自动化]