| 机器人操作手的力传递灵活性测度 |
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| 引用本文： | 傅祥志.机器人操作手的力传递灵活性测度[J].华中科技大学学报(自然科学版),1993(4). |
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| 作者姓名： | 傅祥志 |
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| 作者单位： | 华中理工大学机械工程一系 |
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| 摘 要： | 根据向量系的广义相关性理论,提出了向量系的总体相关性及相对相关性测度指标,并应用这一测度指标,研究了机器人操作手的力传递灵活性,提出了力传递灵活性的测度理论;最后,运用这一理论,确定了机器人操作手的最佳传力位姿.
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| 关 键 词： | 机器人 操作手 灵活性 相关性 铰关节力 |
On the Measure of the Dexterity of Force-Transmission in Robotic Manipulators |
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| Fu Xiangzhi.On the Measure of the Dexterity of Force-Transmission in Robotic Manipulators[J].JOURNAL OF HUAZHONG UNIVERSITY OF SCIENCE AND TECHNOLOGY.NATURE SCIENCE,1993(4). |
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| Authors: | Fu Xiangzhi |
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| Institution: | Fu Xiangzhi |
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| Abstract: | Two concepts and measure indices on the generalized dependency and relative dependency of the vector-system are proposed based on the theory of the generalized dependency of the vectors. According to the relational equation between the generalized force on the end-effector and the joint force of the manipulator derived, two indices for measuring the force-transmission dexterity, one for the absolute and the other for the realtive dexterity, are defined by two indices for the generalized and relative dependency of the vector with also the introduction of Moore-Penrose inversion. By these indices, the best posture of a manipulator with the minimum joint force for a given load is determined. |
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| Keywords: | robot manipulator dexterity dependency of vector joint force |
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