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.
引用本文: 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[J]. ROBOT, 2005, 27(5): 420-422.
Citation: SHI Zhi-xin, LUO Yu-feng, CHEN Hong-liang, YE Mei-yan. On Global Performance Indices of Robotic Mechanisms[J]. ROBOT, 2005, 27(5): 420-422.

机器人机构的全域性能指标研究

On Global Performance Indices of Robotic Mechanisms

  • 摘要: 重点分析了Gosselin提出的全域性能指标η,针对其不足提出了改进和完善的措施.提出了全域运动性能波动指标σ,并建议将改进后的全域综合性能参数作为机器人尺度优化设计的目标函数.最后通过算例证明其有效性.

     

    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.

     

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