机器人机构的全域性能指标研究

详细信息

On Global Performance Indices of Robotic Mechanisms

1.
School of Mechanical and Electronic Engineering, Nanchang University, Nanchang 330029, China
2.
School of Math and Phys, Nanchang University, Nanchang 330047, China

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．
- 可操作性 /
- 全域性能 /
- 条件数
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.
- manipulability /
- global performance /
- condition number

[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.