摘要
利用同时基于Jacobian和Hessian矩阵机器人动力学性能指标及预期相应的串联机器人加速度全局性能指标,对FANUC M420iA(FMA)机器人机构进行了分析,给出了运动学和动力学性能指标的图谱,探讨了不同尺寸之间的性能差异。最后,利用OpenGL进行了实体仿真,验证了数值模拟的速度和加速度性能指标的正确性,为机构的优化设计提供了理论依据。
In this paper,the mechanism of FANUC M420iA robot（hereafter is called as＂FMA＂） has been analyzed by using the dynamitic performance index of robot based on Jacobian and Hessian matrix,and the global performance index of acceleration of the expected and corresponding robot,giving a map of the kinematics and dynamics performance index,and discussing the difference in performance among different sizes.Finally,the OpenGL was used to carry out physical simulation so that the correctness of performance index of numerical simulated speed and acceleration is verified,providing theory basis for optimal design of mechanism.
出处
《机械设计》
CSCD
北大核心
2010年第11期52-55,共4页
Journal of Machine Design
关键词
串联机器人
影响系数
性能指标
逆运动
series robot
Influence coefficient
performance index
inverse kinematics
