| 工业机器人工作空间灵活性优化综合 |
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| 引用本文： | 许有恒,郑凯东.工业机器人工作空间灵活性优化综合[J].上海交通大学学报,1993,27(4):40-48. |
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| 作者姓名： | 许有恒 郑凯东 |
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| 作者单位： | 上海交通大学机械工程系，上海交通大学机械工程系 |
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| 摘 要： | 工作空间灵活性优化综合是机器人机构运动综合的一个新的研究领域.本文用于优化综合的灵活性指标是平均服务系数ASC或灵活性有效系数DEC,给定的运动要求有给定可达工作空间内若干工作点或同时给定工作点及对应的服务系数SC两种.本文的优化综合理论通过一个实例计算得到了验证.
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| 关 键 词： | 工业机器人 优化综合 灵活性 |
Optimum Synthesis for Workspace Dexterity of Manipulators |
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| Xu Youheng,Zheng Kaidong.Optimum Synthesis for Workspace Dexterity of Manipulators[J].Journal of Shanghai Jiaotong University,1993,27(4):40-48. |
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| Authors: | Xu Youheng Zheng Kaidong |
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| Institution: | Xu Youheng;Zheng Kaidong |
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| Abstract: | Optimum synthesis for workspace dexterity is becoming a new domain in kinematic synthesis of manipulators. In this paper, the dexterity index used for the optimum synthesis is ASC (Average Service Coefficient) or DEC (Dexterity Effective Coefficient), and the motion constraints are several work-points in the workspace and Service Coefficients in accordance with the work-points. By dedu- cing the ralation formulas between the dexterity indexes and the linkage parame- ters of manipulators, a dimentional optimum synthesis model can be obtained. An example is given to verify the optimum synthesis theory. |
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| Keywords: | robot optimum synthesis dexterity manipulator |
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