提高冗余度柔性机器人载荷质量比的有效新方法

A EFFICIENT METHOD FOR IMPROVE MENT OF LOAD CARRYING CAPACITY FOR A FLEXIBLIE SPATIAL MANIPULATORS

摘要: 在柔性机器人实现预定运动任务时，保证末端由于弹性变形引起的运动误差不超过规定和机器人本身质量不变的条件下，利用机器人的冗余度，优化机器人的关节初始位形，以增加机器人末端所能承受的载荷质量，从而提高柔性机器人的载荷质量比．通过一空间4R机器人的数值模拟验证了这一方法的有效性．

Abstract: The load carrying capacity of a flexible spatial manipulator is improved by means of optimizing the initial joint configuration when the end motion and errors of the manipulator are satisfied. The numerical simulation of a 4R spatial manipulator shows that the method is effective.