柔性机器人协调操作的力可操作性研究

研究了柔性机器人协调操作的力可操作性(当机器人各关节驱动能力一定时,机器人向外界施加力的能力).在柔性机器人有限元模型基础上,通过分析各驱动关节平衡力矩、夹持广义力、关节校正输入量及被操作负载广义弹性位移之间的关系,利用附加不等式约束的方法,得出柔性机器人阶调操作系统在满足给定驱动性能时广义操作力矢端的外边界,随后给出了仿真算例.

On the Force Manipulability of Flexible Robot Cooperation

The characteristics for the cooperation system of flexible robot manipulators leads to that the mapping from driven torque space to generalized manipulation force space is not a single to single mapping, and this makes the manipulabiliy of such system more complicated. Based on the Finite Element Model of flexible robot, the relationships are established in present study among the balance torque of each driven joint generalized grasping force, corrected input quantity of each joint and generalized elastic displacement of the grasped payload. The outer boundary of generalized manipulation force is obtained for the first time by adding inequality constraints when the capacity of each driven joint is satisfied. A numerical simulation is also presented in the paper.