用于机器人受力分析的雅可比矩阵及应用

根据雅可比矩阵，导出了一种用于机器人坐标系间静力变换的一种简便而实用的方法。分析了在稳定平衡状态下，由于终端效应器上的作用力而在各个关节上产生的力和力矩，从而为合理地确定各关节的动力元件及力控制提供了可靠的依据。以作者所研究的ＬＬ－ＥＴ型机器人为例，给出了该方法的具体应用。

JACOBI MATRIX FOR THE FORCE ANALYSIS OF ROBOT AND ITS APPLICATION

Based on Jacobi matrix,a simple and useful method for the static transformation between coordinate systems of robot is developed.The authors analysis forces and moments acting on all the joints caused by the forces of end-effector in the state of stable equilibrium,thereby provide reliable theoretical grounds for reasonably determining the components of all the joints and controlling the forces.This paper exemplifies the LL-ET cutting robot which is being developed by the authors themselves,and gives the concrete application of the method for illustration.