冗余度机器人速度及力传递性能的度量方法

New Measure Method of Velocity and Force Transmission Characteristics for Redundant Robot

在速度和力可操作椭球的基础上,定义了冗余度机器人机构速度和力方向的可操作度.利用速度和力方向可操作度,度量机器人在当前位形状态下沿指定方向速度和力的传递能力,并通过优化,确定速度和力的最佳传递方位和最佳操作位形.算例表明,平面冗余度机器人机构在给定位形条件下,传力性能强(弱)的方向上传速的性能弱(强).

In this paper, based on the manipulability measure ellipsoids, the velocity and force directional manipulability measure of redundant robot was defined and the measure method of the velocity and force transmission characteristics was given in special direction under a designated posture. The optimum transmission direction of the velocity and force was also defined by optimization. Simulation shows that the force transmission performance is very weak in the optimum transmission direction of the velocity for the planar redundant robot.