摘要
本文以柔性机器人有限元模型为基础 ,利用抓取的几何微分约束和抓取的力平衡约束 ,通过深入分析柔性机器人协调操作系统在某一静态位形时 ,夹持广义力、被操作负载广义弹性位移、被操作负载所受等效合外力之间的关系 ,在全局工作空间中 ,研究基于系统操作刚度的各种操作特性 ,并通过仿真分析不同基解位形对其的影响。
Based on the Finite Element Model of flexible robot,the grasping geometry differential constraint and grasping force balance constraint are utilized in present study to get the relationships among the generalized grasping force,elastic displacement of the grasped payload and external resultant force exerted on the payload.Various manipulation characteristics on the Manipulation Stiffness are studied in global workspace and the influence of the selection of basic solution configuration is analyzed through numerical examples.Manipulabil
出处
《机械设计与研究》
CSCD
北大核心
2000年第3期23-26,共4页
Machine Design And Research
基金
国家自然科学基金59975001资助
