| 大型喷浆机器人的灵巧度分析 |
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| 引用本文： | 闫成新.大型喷浆机器人的灵巧度分析[J].中国石油大学学报(自然科学版),2002,26(2). |
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| 作者姓名： | 闫成新 |
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| 作者单位： | 石油大学机电工程学院,山东东营,257061 |
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| 基金项目： | 国家 8 63基金资助项目 (863 -5 12 -16-0 2 ) |
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| 摘 要： | 灵巧度是衡量机器人运动失真程度的重要参数。对机器人灵巧度评价指标进行了对比研究 ,结合大型喷浆机器人自由度较多的特点 ,用雅可比矩阵的条件数对喷浆机器人的灵巧度进行了分析。结果表明 ,大型喷浆机器人在不同形位下的条件数都很小 ,具有较好的运动灵巧度。
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| 关 键 词： | 机器人 灵巧度 雅可比矩阵 条件数 |
Dexterity analysis of the shotcrete-robot |
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| YAN Cheng xin.College of Mechanical and Electronic Engineering in the University of Petroleum,China,Dongying.Dexterity analysis of the shotcrete-robot[J].Journal of China University of Petroleum,2002,26(2). |
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| Authors: | YAN Cheng xinCollege of Mechanical and Electronic Engineering in the University of Petroleum China Dongying |
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| Institution: | YAN Cheng xin.College of Mechanical and Electronic Engineering in the University of Petroleum,China,Dongying 257061 |
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| Abstract: | Dexterity is an important factor for evaluating the degree of motional distortion. In the design work, it is important that the robot must reach the aim precisely with no singularity. The indexes for evaluating the dexterity of robot are compared. The conditional operator of Jacobian matrix is used for analyzing dexterity of the shotcrete robot. The result indicates that the dexterity of the shotcrete robot is good in different position. |
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| Keywords: | robot dexterity Jacobian matrix conditional operator |
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