CAJ | 학술논문

研究一种具有正交关节轴的6R操作臂工作空间分析与尺度优化方法，用于指导危险环境下生物检测机器人上装机械臂的工作范围和结构尺度优化。分析6R操作臂拓扑结构并建立其位移逆解模型，通过考察各关节尺度参数与转角变化范围的组合，揭示出可达工作空间随操作臂主要构件尺度参数与关节转角范围的变化规律，从而得到一种最佳的关节转角范围组合，进而建立一种操作臂任务空间的快速计算方法。在此基础上，以特征长度法和计权Frobenius范数构造的归一化速度雅可比矩阵条件数的倒数为性能评价指标，综合出一组最优操作臂结构尺度参数，并得到该条件下操作臂末端的可达工作空间和任务空间。该方法具有工作空间分析直观，结构参数优化快速等优点，可使这类操作臂获得良好的运动学性能。
연구일충구유정교관절축적6R조작비공작공간분석여척도우화방법，용우지도위험배경하생물검측궤기인상장궤계비적공작범위화결구척도우화。분석6R조작비탁복결구병건립기위이역해모형，통과고찰각관절척도삼수여전각변화범위적조합，게시출가체공작공간수조작비주요구건척도삼수여관절전각범위적변화규률，종이득도일충최가적관절전각범위조합，진이건립일충조작비임무공간적쾌속계산방법。재차기출상，이특정장도법화계권Frobenius범수구조적귀일화속도아가비구진조건수적도수위성능평개지표，종합출일조최우조작비결구척도삼수，병득도해조건하조작비말단적가체공작공간화임무공간。해방법구유공작공간분석직관，결구삼수우화쾌속등우점，가사저류조작비획득량호적운동학성능。
A methodology of the workspace analysis and dimensional synthesis is presented for a kind of orthogonal 6R manipulator, which can be used on the biological detection robot in dangerous environment, helps to guide the task space analysis and structural optimization for the manipulator. On the basis of structural topologies and inverse displacement analysis, the influence of the dimensional parameters and allowable joint ranges on the profile of reachable workspace is investigated, leading to an optimum combination of joints ranges and a fast calculation method for the task space of the manipulator, then a set of optimized structural dimensions is also obtained for the manipulator by maximizing the reciprocal of the condition number of homogeneously dimensionless Jacobian matrix, constructed by the characteristic length and the weighted Frobenius norm. The reachable workspace and task space of the manipulator are also provided. An example is given to illustrate the effectiveness of this approach, making the advantages of clear results and easy for solvers with the manipulator having optimized flexibility performance.