机器人运动学操作性能研究-《郑州大学学报(工学版)》

文章信息/Info

作者:: 葛洪央¹; 葛新锋²; 赵大旭³.; 许昌职业技术学院信息工程系,河南许昌,461000, 许昌学院电气信息工程学院,河南许昌,461000, 浙江农林大学工程学院,浙江杭州,311300

Author(s):: CE Hong-yang1; GE Xin-feng3; ZHAO Da-xu1; 1.College of Electrial & Information Eingineering Xuchang University，Xuchang 461000，China; 2. lnformation EngineeringDepartment ,Xuchang Vocational and Technology College，Xuchang 461000, China; 3.School of Engineering Zhejiang A &F U-niversity，Hangzhou 311300，China

Keywords:: manipulability ; Riemannian manifold; volume element; exterior differential

摘要:: 通过对串联冗余度自动铺丝机器人的操作空间进行研究,得出了机器人操作空间的体积越大,机器人操作性能越好的结论,提出了基于体积元的冗余度机器人运动学操作性能指标.n自由度的串联机器人的操作空间是n维Riemannian流形,采用活动标架和外积定义对n维Riemannian流形的体积进行计算,得出了机器人操作空间的体积,和已知文献中求得的操作空间的体积进行比较,可知采用体积元作为衡量机器人运动学操作性能指标是可行的.

Abstract:: The conclusion that the greater of the robotic manipulator’s operation space volume,the better ofthe robotic manipulator’s manipulability is drawn by studying the series redundant automatic fiber placementrobotic manipulator’s operation space,and the redundant robotic manipulator’s kinematics performance indexthat based on volume element is proposed. n-DOF serial robotic manipulator’s operation space is n-dimension-al Riemannian manifold,the n-dimensional Riemannian manifold volume is calculated using the moving coor-dinate system and the exterior product definition,and the robotic manipulator’s operation space volume is ob-tained,and compared the obtained results with the operation space volume in the literature,it shows that thevolume element as a kinematics performance index is feasible.