• CN:11-2187/TH
  • ISSN:0577-6686

›› 1989, Vol. 25 ›› Issue (2): 9-15.

• 论文 • 上一篇    下一篇

机器人动力学性能指标及其优化

熊有伦;丁汉   

  1. 华中理工大学
  • 发布日期:1989-03-01

PERFORMANCE INDEX AND OPTIMIZATION OF DYNAMICS IN MANIPULATOR ARMS

Xiong Youlun;Ding Han   

  1. Huazhong University of Science and Technology
  • Published:1989-03-01

摘要: 本文提出衡量机器动态品质的高速性能指标、加速性能指标和综合性能指标。以此评定机器人的结构合理性、参数优化程度。基于这些指标的优化设计考虑到机器人全局最坏情况,能够达到总体最优。计算结果表明,按所述指标进行优化,可使关节相对驱动力矩趋于均匀,最大力矩显著下降,加速性能和高速性能改善,其结果优于其它方法。

关键词: Minimax, 机器人动力学, 性能指标, 优化设计

Abstract: This paper is concerned with the dynamic merit of robot manipulators and the method for the optimization of dynamics in manipulator design. The optimization of manipulator dynamics in worst case design can be put into three categories; 1.Acceleration Performance Index: minimize τa(b); 2.Velocity Performance Index; minimize τc(b); 3.Comprehensive Performance Index: minimize τac(b); The optimization problem has been expressed as the minimum with respect to the design parameters and constraints of these performance indice. At last, a simple two-degree of freedom mechanism arm is used to illustrate this method.

Key words: Minimax, 机器人动力学, 性能指标, 优化设计