摘要
给出评价5自由度串联机器人机构同时基于Jacobian和Hessian矩阵的加速度性能指标,进而得到5自由度串联机器人机构全域性能指标及全域运动性能波动指标。利用上述指标对LR-Mate机器人的加速度性能进行分析,绘制相关图谱。通过对试验结果进行理论分析,发现针对机构尺寸对机构性能的影响进行分析时,Hessian矩阵对机构加速度性能指标有着更重要的影响。最后,利用Matlab软件对LR-Mate机构进行动力学实体仿真,并给出速度、加速度仿真图谱,所得结果与理论分析结果完全一致,验证了理论分析的正确性和指标的可行性。
On the basis of the Jacobian and Hessian matrix, acceleration performance indexes for 5 degrees of freedom series robot （SR） are presented. Then the global performance index and the global performance fluctuating index are given. By using these indices, the LR-Mate robot＇s acceleration performance is analyzed and each kind of atlas of dynamics performance indices is given. Through analyzing the result of simulating atlas, it can be found that Hessian matrix plays a more important role in acceleration performance. Furthermore, the LR Mate mechanism is simulated by Matlab, and simulating atlases of velocity and acceleration are given, The results are completely consistent with the results of theoretical analysis, thus verifying the correctness of theoretical analysis and the feasibility of performance indexes.
出处
《机械工程学报》
EI
CAS
CSCD
北大核心
2008年第10期123-128,共6页
Journal of Mechanical Engineering
基金
河北省自然科学基金资助项目(E2006000208)
