摘要
提出了带冗余驱动器的三腿并联机器人的两种结构，介绍了它们的性能特点，基于动力学方程分析了它们对于不同的优化目标和不同的约束条件的输入力最优化问题．结果表明，冗余驱动可显著提高机器人的力传递能力。
Two kinds of 3-legged Parallel manipulators with redunthant actuators are put forward inthis paper. Their characteristics are introoduced afterwards. On the basis of dynamic equations, theactuating forces corresponding to different objective functions and different constraint conditions arederived by using optimization methods. The results indicate that the force transmission abilities ofmanipulators can be significantly improved by redundant actuartion.
出处
《机械科学与技术》
CSCD
北大核心
1996年第2期235-238,共4页
Mechanical Science and Technology for Aerospace Engineering
基金
北京市科技新星与国家教委优秀青年教师基金
关键词
冗余驱动
并联机器人
最优化
机器人
Redundant actuation
Parallel manipulator
Optimization
