引用本文: 徐礼钜, 姚进. 机器人尺度综合的一种方法[J]. 机器人, 1988, 10(2): 18-21. XU Liju, YAO Jing. An Algorithm on Dimensional Synthesis of Robots[J]. ROBOT, 1988, 10(2): 18-21.
 Citation: XU Liju, YAO Jing. An Algorithm on Dimensional Synthesis of Robots[J]. ROBOT, 1988, 10(2): 18-21. ## An Algorithm on Dimensional Synthesis of Robots

• 摘要: 本文研究了机器人的尺度综合问题．文中建立了在直角坐标系中表示的，联系机器人极限距离位置与关节位置的约束方程组．导出了优化综合的数学模型．提出了优化的目标函数和可能选择的设计变量．本文所提出的方法可以报据给定的边界轮廓线上的一系列点来综合机器人的运动学参数，因而是一种切实可行的方法．最后给出了一个数字实例以说明这种方法．

Abstract: The dimensional synthesis,problem of robot manipulatcrs is investigated in thispaper.A system of nonlinear constraint equations relating the position of hand havi-ng extreme distance to the positions of joints for robot are derived in rectangular co-ordinate system.In the paper a mathematical model for optimal synthesis is establis-hed.An objective function based on position err or and the design variables which canbe arbitrarily choseh in optimization are presented.Presented algorithm can be appledto determine the kinematic parameters of robot in accordance with a series of pointson a given boundary curve.It is pointed out that the algorithm is very effective andpractical.Finally,a numerical example is given to illustrate the algorithm. / 下载:  全尺寸图片 幻灯片
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