On Global Performance Indices of Robotic Mechanisms
SHI Zhi-xin1, LUO Yu-feng1, CHEN Hong-liang1, YE Mei-yan2
1. School of Mechanical and Electronic Engineering, Nanchang University, Nanchang 330029, China; 2. School of Math and Phys, Nanchang University, Nanchang 330047, China
石志新, 罗玉峰, 陈红亮, 叶梅燕. 机器人机构的全域性能指标研究[J]. 机器人, 2005, 27(5): 420-422..
SHI Zhi-xin, LUO Yu-feng, CHEN Hong-liang, YE Mei-yan. On Global Performance Indices of Robotic Mechanisms. ROBOT, 2005, 27(5): 420-422..
Abstract：The global performance index η presented by Gosselin is analyzed,and a better method is introduced to overcome its deficiency.Then the authors present a global performance fluctuating index σ,and suggest that the new integrated global performance index should be used as the objective function to optimize the dimensions of robotic manipulators.At last,an effective example is provided to illustrate the feasibility of the proposed method.
[1] 熊有伦,等.机器人学[M]. 北京:机械工业出版社,1993.110-113. [2] 刘迎春,等.机器人可操作性研究进展[J]. 机械设计与研究,2003,19(4):34-37. [3] Gosselin C, Angeles J. A global performance index for the kinematic optimization of robotic manipulators[J]. ASME Journal of Mechanical Design,1991 ,11(3):220-226. [4] 陶澍.应用数理统计方法[M]. 北京:中国环境科学出版社,1994.23-26.
