毕树生, 宗光华. 位姿对手端刚度比可控性的影响[J]. 机器人, 1995, 17(2): 98-101,107.
引用本文: 毕树生, 宗光华. 位姿对手端刚度比可控性的影响[J]. 机器人, 1995, 17(2): 98-101,107.
BI Shusheng, ZONG Guanghua. THE EFFECT OF POSE ON CONTROLLABILITY OF END-EFFECTOR STIFFNESS RATIO[J]. ROBOT, 1995, 17(2): 98-101,107.
Citation: BI Shusheng, ZONG Guanghua. THE EFFECT OF POSE ON CONTROLLABILITY OF END-EFFECTOR STIFFNESS RATIO[J]. ROBOT, 1995, 17(2): 98-101,107.

位姿对手端刚度比可控性的影响

THE EFFECT OF POSE ON CONTROLLABILITY OF END-EFFECTOR STIFFNESS RATIO

  • 摘要: 本文依据直接柔顺控制的基本思想,着重讨论了闭式链臂手端刚度比与柔顺机构位姿之间的关系.文章引用刚度比的概念,作为手端作业刚度可调节性能的一个指标.刚度比取值有限度,Kx/Ky=1时手端刚度的可控性最好,而且刚度比与输出点的动作范围有关.

     

    Abstract: According to the principle of direct compliance control,this paper discusses the ralation betweenthe stiffness of the end-effector and the pose of compliance mechanism for a parallel link arm.In this paperthe stiffness ratio is quoted for a index of adjustable performance of end-effector'stiffness.Available valueof the stiffness ratio is limited.Controllability of end-effector's stiffness is best with Kx/Ky=1,and operat-ing range of end-effector is ralated to the stiffness ratio.

     

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