摘要
通过改变 6-HURU并联机器人机构尺寸得到了包含 1 2 1个机构的机构组 ,综合利用每个机构在其工作空间内不同位形采样点的一阶、二阶影响系数矩阵 ,研究了该并联机器人机构不同尺寸下运动学和动力学性能指标 ,突破了以往只考虑一阶影响系数矩阵研究所产生的局限性 ,根据所得的全域性能图谱探讨了不同尺寸机构之间的性能差异 。
Influence coefficient matrix changes with configuration of mechanism. The paper presented a group of mechanisms including 121 mechanisms by changing their dimensions, then studied performance index of kinematics and dynamics for 6-HURU parallel robot mechanism with different dimensions by both of the first and second order influence coefficient matrix of different sample points in every mechanism's workspace. It breaks through the restrictions due to considering only the first order influence coefficient matrix in the past. Furthermore, the paper also discussed the performance differences of mechanism with different dimensions by the atlas of global performance index and validated them. The paper’s contents offer the basis for designing parallel robot mechanism of this type with good performance.
出处
《中国机械工程》
EI
CAS
CSCD
北大核心
2004年第20期1800-1803,共4页
China Mechanical Engineering
基金
河北省自然科学基金资助项目 (F2 0 0 40 0 0 2 5 2 )
中国科学院机器人学开放研究实验室基金资助项目 (RL2 0 0 2 -0 7)
关键词
性能指标
影响系数
条件数
全域性能图谱
performance index
influence coefficient
condition number
atlas of global performance index
