CAJ | 학술논문

基于机器人静刚度模型，分析如何通过机器人臂长及位形优化提高机器人刚度。首先，在机器人典型传动部件刚度计算的基础上，分析刚度矩阵的最小奇异值，将之作为评价机器人静刚度性能的指标。然后，为了衡量机器人在整个工作空间中刚度性能的平均水平，提出采用刚度全域性能指标，并以之作为目标函数对机器人臂杆长度进行优化。最后，以本实验室开发的SCARA机器人为例，展示了优化方法的应用及其效果。
기우궤기인정강도모형，분석여하통과궤기인비장급위형우화제고궤기인강도。수선，재궤기인전형전동부건강도계산적기출상，분석강도구진적최소기이치，장지작위평개궤기인정강도성능적지표。연후，위료형량궤기인재정개공작공간중강도성능적평균수평，제출채용강도전역성능지표，병이지작위목표함수대궤기인비간장도진행우화。최후，이본실험실개발적SCARA궤기인위례，전시료우화방법적응용급기효과。
The problem of how to increase the stiffness of a robot through optimization of its link lengths and configuration based on stiffness per-formance is addresses in this paper.Based on the static stiffness models of typical transmissions of robotic joints,the minimum singular value of the stiffness matrix is first analyzed and taken as a cri-terion to evaluate stiffness performance.To meas-ure the stiffness performance of a robot in its whole workspace,a global stiffness performance criterion is proposed and used as the obj ective to optimize link lengths of the robot.Finally,an ap-plication of the proposed optimization method is il-lustrated with the SCARA robot developed in our laboratory as an example.The feasibility and ef-fectiveness of the method are verified by the appli-cation of the method.