自动铺丝机器人的运动学性能指标分析研究

Kinematics performance index of automated fiber placement robotic manipulator

针对7自由度纤维丝束自动铺放机器人运动学性能指标的衡量问题,引入了活动标架和外微分方法。根据活动标架推导出串联机器人的运动学方程,根据外微分定义了机器人的体积元函数,提出了利用外微分和活动标架结合的体积元函数,并作为衡量冗余自由度机器人运动学操作度的性能指标;然后把7自由度纤维丝束自动铺放机器人的相关D-H参数代入用活动标架推导的运动学方程和用外微分定义的体积元函数,求出了7自由度纤维丝束自动铺放机器人的体积元函数;对比了体积元函数和Yoshikawa提出的操作度函数,发现了体积元函数和操作度函数具有相同的变化规律。研究结果表明:采用体积元作为衡量7自由度纤维丝束自动铺放机器人运动学操作性能指标是有效的。

Aiming at measuring the automated fiber placement robotic manipulator＇s kinematics performance index,the moving frame system and exterior differential were introduced. The kinematics equations of robotic manipulator was derived according to moving frame system and the volume element function was defined according to exterior differential,the volume element function of robotic manipulator was taken as kinematics performance index measuring redundant robotic manipulator＇s kinematics manipulability. Then the automatic fiber placement robotic manipulator was taken as an example,and the volume element function of the automatic fiber placement robotic manipulator was obtained.The volume element function which derived from volume element that defined by the moving frame system and the exterior differential and Yoshikawa＇s manipulability function was the same comparing Yoshikawa＇s manipulability function. The results indicate that the volume element as a kinematics operational performance index is feasible.