机器人协调操作刚性负载效率的研究  

On the Efficiency of Cooperating Robots Manipulating a Rigid Load

作　　者：张成新[1] 余跃庆[1] 

机构地区：[1]北京工业大学机电学院,北京市100022

出　　处：《中国机械工程》2003年第9期779-782,共4页China Mechanical Engineering

基　　金：国家自然科学基金资助项目 ( 5 9975 0 0 1);北京市自然科学基金资助项目 ( 3 0 12 0 0 3 )

摘　　要：针对工业机器人的使用情况 ,考虑机器人臂的弹性变形 ,提出了以机器人关节输入功率最小作为规划目标 ,规划各协调机器人的承载比例和相对位置的方法。此方法可使系统效率最高并且其它动力特性较好。以具有冗余驱动的机器人协调操作系统为例 ,将所提目标的规划结果与通常目标的规划结果进行了比较 ,分析了影响系统效率和其它动力特性的因素。A method is proposed for industrial manipulators. In this method, with the flexibility of manipulators taken into account, by handling the minimum joint input power as the objective function and programming the load distribution coefficients and the layout of the manipulators, the efficiency is optimized and other dynamic characteristics of the system are improved. Compared with the results of the conventional objective functions, the factors that affect on the efficiency and the other dynamic characteristics are analyzed through a flexible multiple manipulator system with redundant actuation. The effectiveness of the method is demonstrated by numerical analysis.

关 键 词：柔性机器人 协调操作 冗余驱动 功率行为 弹性变形 承载比例 刚性负载效率 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]