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为优化设计并联机器人的结构参数,利用传动角的概念,定义了评价并联机器人运动/力传递性能的度量指标LT I(局部传递指标)、GTW(优质工作空间)和GT I(全域传递指标),然后以PVRRRPV并联机器人为例,分析这些指标在机构参数优化设计的应用。结果表明,采用该文提出的性能指标设计的机器人,不仅可以远离奇异,而且具有良好的运动/力传递特性。
In order to optimize the structural parameters of parallel robots, the concept of transmission angle was used to define the LT I (Local Transmissibility Index), GTW (Good Work Space) and GT I (Global Transfer Index) for evaluating the kinematic / force transfer performance of parallel robots. Then, taking PVRRRPV parallel robot as an example, the application of these indexes in the optimization design of mechanism parameters is analyzed. The results show that the robot designed by using the performance index proposed in this paper can not only be far from singularity but also have good motion / force transfer characteristics.