杨挺. 机器人操作手静力及功率特性的研究[J]. 机器人, 1989, 11(3): 49-52,62.
引用本文: 杨挺. 机器人操作手静力及功率特性的研究[J]. 机器人, 1989, 11(3): 49-52,62.
YANG Ting. RESEARCH OF STATIC AND POWER CHARACTERISTIC FOR ROBOT MANIPULATOR[J]. ROBOT, 1989, 11(3): 49-52,62.
Citation: YANG Ting. RESEARCH OF STATIC AND POWER CHARACTERISTIC FOR ROBOT MANIPULATOR[J]. ROBOT, 1989, 11(3): 49-52,62.

机器人操作手静力及功率特性的研究

RESEARCH OF STATIC AND POWER CHARACTERISTIC FOR ROBOT MANIPULATOR

  • 摘要: 本文提出了和建立了操作手静力空间,并详细讨论了其性质.从力学的观点出发,静力空间的形状和大小被用作反映操作手静力特性的指标.一般地说,空间的体积愈大,其施力能力愈强,当空间的形状为正多边形或多面体时,操作手的静力特性表现为各向同性.功率特性是一个新概念,它描述的是操作手功率发挥的状况,文中给出了反映操作手功率特性的指标,并讨论了其应用.

     

    Abstract: In this paper,manipulator "staticspace" is proposed and established.Its basic properties are derived and discussed.Its shape and volume are considered as the performance index of a manipulator from theviewpoint of staties.Next we propose a new concept "power performance" which describes the state of us-ing power of a manipulator.The index which reflects the power performance of a manipulator is pres-ented and some applications of it are discussed.

     

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