STUDY OF FLEXIBILITY FOR ROBOT MECHANISM
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摘要: 本文研究并首次提出了六自由度机器人机构柔度的定量计算方法，编制了相应的应用软件，以各种典型关节型机器人为例，在SGI工作站上实现了柔度的定量分析计算及其三维图形仿真，给出了工作空间内平行于子午面的任意节面上机构等柔度曲线．研究成果为机器人的性能分析．避障，轨迹规划等研究提供了有力的手段．Abstract: In this paper we study and initiate the quantitative calculating method of the flexibility of a robot manipulator with 6 degrees of freedom and develop the related software.Also,on the SGI working station,we have,with various typical articulated robot manipulators as examples,realized the quantitative analysis and graphicsimulation of the flexibility and drawn iso-flexibility curves in the working space,to provide a tool for obstacle avoiding and path planning of robot.
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Keywords:
- robot /
- machanism /
- flexibility of mechanism
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