| 一种7R冗余机械臂的容错空间优化 |
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| 引用本文： | 付铁,朱朝辉,丁洪生,张庆东.一种7R冗余机械臂的容错空间优化[J].北京理工大学学报,2017,37(9):933-936. |
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| 作者姓名： | 付铁 朱朝辉 丁洪生 张庆东 |
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| 作者单位： | 北京理工大学机械与车辆学院,北京,100081;北京理工大学机械与车辆学院,北京,100081;北京理工大学机械与车辆学院,北京,100081;北京理工大学机械与车辆学院,北京,100081 |
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| 基金项目： | 国家部委预研项目（870102056） |
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| 摘 要： | 以一种双偏置7R冗余机械臂为研究对象，探讨其单关节容错空间的优化问题.针对容错空间体积的变化规律，考虑容错空间与工作空间的关系，引入转换比的概念，通过选取合适的关节锁定角范围对机械臂的容错空间进行了优化.研究结果表明，在两种不同的锁定角范围取值方式下，随着锁定角的增大，转换比均呈现先上升后下降的规律.同时，最高转换比对应的锁定角亦得到确定.
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| 关 键 词： | 冗余机械臂 容错空间 转换比 锁定角范围 |
| 收稿时间： | 2016/6/6 0:00:00 |
Optimizationof Fault-Tolerant Workspace for 7R Redundant Manipulator |
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| FU Tie,ZHU Zhao-hui,DING Hong-sheng and ZHANG Qing-dong.Optimizationof Fault-Tolerant Workspace for 7R Redundant Manipulator[J].Journal of Beijing Institute of Technology(Natural Science Edition),2017,37(9):933-936. |
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| Authors: | FU Tie ZHU Zhao-hui DING Hong-sheng and ZHANG Qing-dong |
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| Institution: | School of Mechanical Engineering, Beijing Institute of Technology, Beijing 100081, China |
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| Abstract: | Optimization of fault-tolerant workspace for a 7R redundant manipulator in the condition of single-joint locking was studied systematically. Firstly, the concept of conversion ratio was introduced based on the change rule of the fault-tolerant workspace volume and the relationship consideration between fault-tolerant workspace and locking workspace. And then the redundant manipulator''s fault-tolerant workspace was optimized by determining suitable joint''s locking range. The study results show conversion ratio increases initially and decreases afterwards as the locking angle increases by two kinds of value method. Meanwhile, the locking angle of highest conversion ratio is also determined. |
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| Keywords: | redundant manipulator fault-tolerant workspace conversion ratio locking range |
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