| 机器人操作手的最佳传力位姿的确定 |
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| 引用本文： | 傅祥志. 机器人操作手的最佳传力位姿的确定[J]. 机器人, 1993, 0(3) |
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| 作者姓名： | 傅祥志 |
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| 作者单位： | 华中理工大学机械工程一系 武汉430074 |
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| 摘 要： | 本文在考察机器人操作手动态特性的基础上,研究了操作手的力传递特性,并根据向量系的广义相关性理论,定义了机器人操作手的力传递灵活性指标.最后,本文运用这些指标,解决了在给定操作力的条件下,所需驱动铰力最小的操作手的最佳位姿问题.
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| 关 键 词： | 机器人 操作手 灵活性 相关性 铰关节力 |
DETERMINATION OF THE OPTIMAL POSTURE OF MANIPULATORS FOR THE FORCE TRANSMISSION |
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| FU Xiangzhi. DETERMINATION OF THE OPTIMAL POSTURE OF MANIPULATORS FOR THE FORCE TRANSMISSION[J]. Robot, 1993, 0(3) |
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| Authors: | FU Xiangzhi |
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| Abstract: | According to the analysis of dynamic characteristic,the force transmission characteristics,of manipulatorsare studied.And the criteria for measuring the force-transmission dexterity of manipulators are defined basedon the theory of the general relativity of the vector and Moore-penrose inverse.By using these criteria,thebest posture of a manipulator with the minimum joint force on the given load is determined. |
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| Keywords: | robot manipulator dexterity relativity of the vector joint force |
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