摘要
为提高机器人与人合作或交互的质量,减少机构自身的重力、惯性等带给使用者的不舒适体验,研究机构的参数设计方法,以一种2自由度虚拟样机为例,综合考虑运动学与动力学各向同性,以操作空间使用者需要克服的最大惯性来衡量机构的反向可驱动性,分析机构参数对系统性能的影响。以运动学各向同性为指标,给出运动学参数设计标准。建立机构的动力学模型,考虑机构的重力平衡、反向可驱动性和动力学各向同性,给出各指标的影响因素。最后对一组特定参数进行校核和分析,并给出具体指标数据。该机构在工作空间中部具有好的各向同性,有部分重力未得到平衡,等效质量在工作空间中部很小,外侧稍大。根据改进设计建议,合理调节机构质量分布和关节杆长可有效提高系统性能。研究结果可以推广到各种以反向可驱动性为重要指标的机器人机构参数设计与校核。
To improve the quality of collaboration and interaction between human and robot, and lessen uncomfortable experience owing to the gravity and inertia of the mechanism itself, the parameter design method of robot is studied. A kind of 2-DOF virtual prototype is given as an example to demonstrate the method. Introducing the largest equivalent mass in the manipulating space to evaluate backdrivability of the mechanism, factors affecting performance of the mechanism are especially concerned. Kinematic isotropy is taken as a design target to optimize the kinematic parameters. Then taking gravity balance, backdrivability and dynamic isotropy into account, the dynamic parameter design criterion is provided. Finally the specification of the virtual prototype is concertly presented. The 2-DOF mechanism has good kinematic and dynamic isotropy in the middle part of workspace. But the gravity is not completely balanced, and the equivalent mass in the inner part of the workspace is very small, while still a little larger than expected in the outer part. Reasonable adjustment of masses, mass distribution and kinetic lengths will lead to better gravity balance and backdrivality of the mechanism. The theory and method can be extended to the parameters design of other types of mechanism, which will emphasize the collaboration and interaction quality especially gravity balance, backdri- vability and isotropy.
出处
《机械工程学报》
EI
CAS
CSCD
北大核心
2007年第6期72-75,共4页
Journal of Mechanical Engineering
