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．
- 机器人 /
- 静力特性 /
- 静力空间 /
- 功率特性 /
- 速度空间
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.
- robot /
- static properties /
- staticspace /
- power performance /
- velocity space