并联机器人力传递性能分析

并联机器人雅可比矩阵中包含了输入输出力/力矩关系的信息,以此为基础可以进行一些力学性能评价。然而,力和力矩具有不同的量纲,因而,直接对雅可比矩阵进行分析计算不尽合理。据此,将雅可比矩阵分为力雅可比和力矩雅可比,在此基础上,研究并联机器人在工作空间内的力传递性能和力矩传递性能。所提方法自然直观,避免了不同量纲的物理量之间的混合,所得结果物理意义明晰,可用于并联机器人结构优化。

Force Transmissibility Performance of Parallel Manipulators

The relationship between input forces/torques and output forces/torques of parallel manipulators are expressed by its Jaeobian, in which forces and torques are dealt with in a matrix. However, forces and torques have different dimensions. To deal with them separately, this paper divides the Jaeobian into the force Jacobian and the torque Jacobian. On the basis, force transmissibility and torque transmissibility of parallel manipulators are discussed. This method avoids the confusion of different dimensions in the process of analysis. The physics meanings of the two Jaeobians are more perspicuious. The result of transmissibility can be used to optimize structures of parallel manipulators.