摘要
通过对串联冗余度自动铺丝机器人的操作空间进行研究,得出了机器人操作空间的体积越大,机器人操作性能越好的结论,提出了基于体积元的冗余度机器人运动学操作性能指标.n自由度的串联机器人的操作空间是n维Riemannian流形,采用活动标架和外积定义对n维Riemannian流形的体积进行计算,得出了机器人操作空间的体积,和已知文献中求得的操作空间的体积进行比较,可知采用体积元作为衡量机器人运动学操作性能指标是可行的.
the conclusion that the greater of the robotic manipulator＇ s operation space volume, the better of the robotic manipulator＇s manipulability is drawn by studying the series redundant automatic fiber placement robotic manipulator＇ s operation space, and the redundant robotic manipulator＇ s kinematics performance index that based on volume element is proposed, n-DOF serial robotic manipulator＇ s operation space is n-dimension- al Riemannian manifold, the n-dimensional Riemannian manifold volume is calculated using the moving coor- dinate system and the exterior product definition, and the robotic manipulator＇ s operation space volume is ob- tained, and compared the obtained results with the operation space volume in the literature, it shows that the volume element as a kinematics performance index is feasible.
出处
《郑州大学学报（工学版）》
CAS
北大核心
2013年第2期121-124,共4页
Journal of Zhengzhou University（Engineering Science）
基金
国家自然科学基金资助项目(51275479)
