摘要
提出了一种基于高条件数性能指标优化方法对机器人结构参数进行优化。在操作任务相同时,机器人的灵活度性能指标越高,各关节的驱动电机的转速会越低。在管道插接空间相贯线焊接任务中,焊枪的工作速度很慢,容易导致驱动电机速度过低。提出与传统灵活度性能指标相反的设计思路,适当降低机构的灵活度,有效的提高了电机的转速。以关节式焊接机器人的结构参数设计为例,验证了这种优化思路的有效性。
A condition number index based on higher condition number index is proposed in this paper to conduct robot＇s structural parameter optimizatmn. During manipulation task, the higher the robot＇s dexterity index is, the lower the motor speed becomes. During the task of welding the intersecting pipes, the low speed of the welding gun causes the motor speed to become too slow to be controlled. Against the traditional interpretation of dexterity index, a new method is proposed to reduce the dexterity of robot in order to increase the motor speed. Finally, this design idea is verified to be feasible with the parameter optimization of a joint welding robot.
出处
《机械设计与研究》
CSCD
北大核心
2011年第6期9-12,共4页
Machine Design And Research
基金
国家自然科学基金资助项目(50875002)
关键词
欠机器人
灵活度
性能指标
电机
转速
robot, performance index, dexterity, elecitral motor, speed
