Configuration Analysis of a 6R Manipulator Based on an Improved Performance Index

被引：0

作者：

Tian, Yong ^{[1
,2
]}

Wang, Hongguang ^{[1
]}

Pan, Xin'an ^{[1
]}

机构：

[1] Chinese Acad Sci, State Key Lab Robot, Shenyang Inst Automat, Shenyang, Liaoning, Peoples R China

[2] Univ Chinese Acad Sci, Beijing, Peoples R China

来源：

2016 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND BIOMIMETICS (ROBIO) | 2016年

基金：

中国国家自然科学基金;

关键词：

D O I：

暂无

中图分类号：

TP24 [机器人技术];

学科分类号：

080202 ; 1405 ;

摘要：

By analyzing the configuration of a 6R manipulator based on global performance index, the problem is proposed in this paper. The performances of two configurations cannot be compared based on the global performance index, if the configurations have same index. To solve the problem, an improved performance index is proposed in this paper. Firstly, this paper points out the boundary distribution index (BDI) based on the distribution of the singular points in the workspace. Secondly, the effectiveness of BDI is verified by comparing with the existing performance index. In addition, an improved performance index is established with the combination of the existing performance index and BDI. Then, the effect of offset on the manipulator is analyzed based on the improved performance index. Finally, the optimized configuration is obtained by the improved performance index and contrasts with other configuration. Then, the effectiveness of the improved performance index is verified.

引用

页码：1742 / 1747

页数：6

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