机械手柔顺和刚度广义中心分析
ON GENERALIZED CENTER OF COMPLIANCE AND STIFFNESS OF MANIPULATOR
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摘要: 机器人系统的弹性特性一般可用一个6×;6的刚度或柔顺矩阵建模.本文采用螺旋理论研究机器人系统的弹性特征.通过能量最小原理,确定了柔顺和刚度的静态值.分析中很自然地得到了螺旋柔顺中心的概念.该概念简化了我们对复杂弹性体的理解.Abstract: The elastic characteristic of a robot system can generally be modelled by a 6×6 stiffness or compliance matrix.Employing theory of screw,we study the elastic characteristics of robot systems.Stationary values of compliance and stiffness are determined on the basis of minimum energy principle.The analysis involves naturally the concept of center of elasticity.All these simplify the understanding of complex elastic properties.