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本文针对机器人机构参数对其动力学特性的影响,提出了一种适用于多自由度机器人的动力学优化综合方法:在保证运动学要求的前题下,为得到最佳动力学性能对机器人机构参数进行优化设计的一种方法。本文给出了三个评价函数,这三个评价函数从不同角度反映了机器人的动力学特性。
In this paper, aiming at the influence of robot mechanism parameters on its dynamic characteristics, a kinematic optimization synthesis method is proposed for multi-degree-of-freedom robots: under the premise of ensuring the kinematic requirements, in order to get the best dynamic performance, A method of optimal design of parameters. In this paper, three evaluation functions are given. These three evaluation functions reflect the dynamics of the robot from different angles.