摘要
为提高机械臂的操作灵活度,提出了一种以机械臂可操作度为评价指标的尺寸优化方法。在对机械臂进行运动学分析的基础上,求出机械臂的雅克比矩阵,并由此得到机械臂可操作度的表达式,采用遍历法求得机械臂工作空间内大量点可操作度的平方和—总体可操作度,以此对机械臂的尺寸进行优化。这一方法准确地结合工作空间对机械臂可操作度进行研究,求得机械臂的最佳结构参数。通过对仿真结果分析,可知所提出的方法不仅能满足机械臂工作空间要求,且明显提高了可操作性能。
In order to improve the operational flexibility of the manipulator, a dimension optimization method based on manipulability is proposed. Based on the kinematics analysis of the manipulator, the Jacobian matrix is calculated, and the expression of the manipulator manipulability is obtained. The traversing method is used to calculate the manipulability of a large number of points in the workspace for size optimization. This method obtains the best structural parameters of manipulator combining with the workspace. The simulation result shows that the pro- posed method can not only meet the workspace requirements, but also improve the operability.
出处
《山西电子技术》
2017年第2期29-32,共4页
Shanxi Electronic Technology
基金
军内科研项目(2015BZ43)
关键词
机械臂
可操作度
尺寸优化
遍历法
manipulator
manipulability
size optimization
traverse method
