摘要
如何评定机器人操作臂的动力学性能好坏，对于开发高速、高精密机器人以及机器人的结构设计和控制方案的拟定都有重要的作用，因此引起国内外学者的关注和研究。从1971年Vinogrador提出了工作角概念一直到1991年C.Gosselin，J.Angeles提出的基于Jacobian矩阵的全域性能指标(Global Conditioning Index)，所有研究都局限在速度性能指标的讨论，对于加速度分析仅仅刻画了机器人在时的局部动态性能。本论文利用新提出的性能指标定义对传统的串联机器人进行了运动学性能和动力学性能方面的实例分析。
本文用对比法验证了这种方法的实用性，研究了同时基于Jacobian矩阵和Hessian矩阵的运动学和动力学性能指标。然后选择典型的串联机构PUMA560机构和A4010H SCARA机构进行分析。在具体研究每一个机构的过程中，首先依据黄真教授提出的影响系数法建立一阶、二阶影响系数矩阵。然后根据机构的实际工作尺寸和工作空间大小，初步选定机构尺寸。最后利用郭希娟教授在其博士论文中提出的机构性能指标为机构绘制性能图谱，并以此为据找出一组尺寸各不相同的机构中性能较优的机构，从而为机构设计提供理论依据。
本文在对串联机构分析后得出的结论中发现，传统的串联机构在机构设计方面具有较好的运动学性能，而动力学性能较低。本文使用的方法主要是讨论机构尺寸的设计，如何提高机构的动力学性能还有待进一步讨论。
How to evaluate the dynamic performance of manipulator of the robot has drawn much attention at home and abroad. It has an important influence on development of high speed and high precision robot as well as mechanism design of robot and programming of manipulator project. From the definition of working angle (Vinogrador,1971) to the definition of global conditioning index which based on Jacobian matrix (C.Gosselin, J.Angeles,1991), all research is limited to the discussion on velocity performance indices. To acceleration, it only describes the part dynamic performance of some spot when robot is in the state that . This paper analyzes the serial mechanisms on kinematical and dynamical performance.
In this paper, based on strict demonstration to the validity and practicability of the method, we first research the performances of kinematics and dynamics that based on both Jacobian and Hession matrix. The mechanisms, which are analyzed in this paper, are serial PUMA560 mechanism and serial A4010H SCARA mechanism. During the analysis, this paper calculates one-order kinematic influence coefficient matrices and two-order kinematic influence coefficient matrices of the mechanisms according to the influence coefficient presented by Pro. Z.Huang. Then the range of dimension, in view of the mechanisms’ trim size and workspace, is chosen for research. At last, this paper draws performance atlas to find the mechanism who has better performance in a group of mechanisms with the indices proposed by Pro. X.J.Guo in her thesis.
In the result of the analysis, the conclusion is that the serial mechanism has better kinematic performance but worse dynamic performance. The method in this paper mainly focuses on the design of mechanism. How to develop the dynamic performance is under discussion.
引文
魏媛媛.基于模糊控制理论的机器人柔顺控制方法的研究.华中师范大学硕 士论文.2001.5:1-2
刘进长, 辛建成.机器人世界.郑州:河南科学技术出版社,2000:117-119
诸静.机器人与控制技术.杭州:浙江大学出版社,1991:7-10,115-126,127-143, 222-253
吴广玉, 姜复兴.机器人工程导论.哈尔滨:哈尔滨工业大学出版社,1988:9-17, 266-278,196-241
A. C. McDonald.Robot Technology.Theory, Design and Application.Prentic-Hall, 1986
周远清, 张再兴.智能机器人系统.北京:清华大学出版社,1989:1-50
金茂箐, 曲忠萍, 张桂华.国外工业机器人发展态势分析.机器人技术与应用,2001(2):6-7
Yoji Umetani.A Review on Advanced Robotics.Proceedings 91 International Symposium on Advanced Robot Technology,1991:3-6
WeisbinC.B. et al.HERMIES-Ⅲ:A Step Toward Autonomous Mobility Manipulation and Perception.Robotica,1990 (8)
宗光华.国外机器人机构近期发展热点.机器人情报,1992:33-36
刘海波.21世纪智能机器人发展预测.机器人,1991(4):39-46
863计划智能机器人主题专家组.863计划对中国机器人发展的巨大作用和深远影响.机器人技术与应用,2001(3):4
蔡自兴.智能机器人技术研究与展望.中国人工智能学会智能机器人专业委员会首届学术研讨会论文集.1993:1-5
王树国, 战强, 陈在礼.智能机器人的现状与未来.机器人技术及应用,1998:14-71
陈佩云, 金茂箐, 曲忠萍.我国工业机器人发展现状.机器人技术与应用, 2001(1):2-3
付连芳.五自由度教学机器人的示教再现控制系统研究.哈尔滨工业大学硕士论文. 2001.12:1-4
I.B.Vinogradov, A.E.Kobrinski, Y.E.Stepanenko and etc. Details of Kinematics of Manipulators with the Method of Bolumes. Mekhanika Mashin. Russian,1971. 27-28:5-16
A.V.Kumar, K.J.Waldron.The Workspace of a Mechanical Manipulator.ASME J.Mech.Design,1981,103(3):665-672
J.K.Salisbury, J.J.Craig.Articulated Hands: Force Control and Kinematic Issues.Int. J.of Robot. Res.,1982,1(1):4-17
T.Yoahikawa.Manipulability of Robotic Mechanisms.Int.J.of Robot Res.,1985, 4(2):3-9
C.Gosselin, J.Angeles.A Global Performance Index for the Kinematic Optimization of Robotic Manipulators.Transactions of the ASME,1991,Sep.,(113):220-226
郭希娟.并联机器人机构动力学基础理论研究.燕山大学工学博士学位论文.2002.8:5-10
Sukhan Lee, Sungbok Kim.Kinematic feature analysis of parallel manipulator systems.Proceedings of the IEEE International Conference on Robotics and Automation,Vol.1,1994.IEEE.pp.77-82
Byun Y.K., Cho H.S.Analysis of a novel 6-DOF,3-PPSP parallel manipulator. International Journal of Robotics Research,Vol.16,No.6,Dec.1997.pp.859-872
J.H.Shim, D.S.Kwon, H.S.Cho.Kinematic analysis and design of a six D.O.F3-PRPS in parallel manipulator.Robotica,(1999)Vol.17
殷际英, 何广平.关节型机器人.北京:化学工业出版社,2003:3-15
黄真, 孔令富, 方跃法.并联机器人机构学理论及控制.北京:机械工业出版社, 1997:65-118
孙立宁, 于晖, 祝宇虹,等.机构影响系数和并联机器人雅克比矩阵的分析.哈尔滨工业大学学报,2002,11:810-814
D.A.Steward.Platform with 6-DOF.Proc. Institution of Mechanical Engineering, 1965,18(1):371-386
A.V.Kumar, K.J.Waldron.The Workspace of a Mechanical Manipulator.ASME J.Mech.Design,1981,103(3):665-672
J.K.Salisbury, J.J.Craig.Articulated Hands: Force Control and Kinematic Issues.Int.J. of Robot.Res.,1982,1(1):4-17
T.Yoshikawa.Manipulability of Robotic Mechanisms.Int.J. of Robot.Res.,1985, 4(2):3-9
D.C.Yang, Z.C.Lai.On the Conditioning of Robotic Manipulators –service Angle. ASME J. Mechanisms Transmissions and Automation Des,1985(107):262-270
J.Angeles and C.López-Cajún.The Dexterity Index of Serial-type Robotic Manipylators.Proc.20th Jorge Biennial Mechanisms Conference,Kissimmee.FL,
1988,Sept.25-28:79-84
C.Gosselin, J.Angeles.A Global Performance Index for the Kinematic Optimization of Robotic Manipulators.Transactions of the ASME,1991,113:220-226
C.Gosselin, J.Angeles.A Global Performance Index for the Kinematic Optimization of Robotic Manipulators.Transactions of the ASME,1991,113:220-226
徐元昌, 陶学恒, 沈晓红.工业机器人.北京:中国轻工业出版社,1999:200-207
熊有伦.机器人学.北京:机械工业出版社,1993:65-70
孙杏初.国外典型工业机器人图册.北京航空航天大学等单位联合编写,39-40
Ignacy Duleba.Structural Properties of Inertia Matrix and Gravity Vector of Dynamics of Rigid Manipulators.Journal of Robotic Systems,2002(19):555-567
Venkat Krovi, G.K.Ananthasuresh, Vijay Kumar. Kinematic and Kinetostatic Synthesis of Planar Coupled Serial Chain Mechanisms. Journal of Mechanical Design,2002.6:301-311
陈永, 李立, 刘朝晖.带闭链机器人动力学建模的符号－数值技术.高技术技术,1994.5:1-5
孔宪文, 陆卫杰.平面连杆机构运动与运动误差分析的影响系数法.江苏石油化工学院学报,1995.6:39-51
孙立宁, 于晖,祝宇虹 ,等.机构影响系数和并联机器人雅克比矩阵的研究.哈尔滨工业大学学报,2002.12:810-814
朱思俊, 郭希娟, 黄真, 等.空间双回路RSSR-SC机构的速度、加速度性能指标分析. 机器人技术与应用,2002年第3期:26-31
Damien Chablat, Jorge Angeles.The Computation of All 4R Serial Spherical Wrists With an Isotropic Architecture.Journal of Mechanical Design,2003.6:275-279
任敬轶, 孙汉旭.具有三分支空间机器人的运动学分析.北京航空航天大学学报, 2001.10:604-607
黄真.空间机构学.北京:机械工业出版社,1991:15-44
刘德庸, 黄真.平面连杆机构运动分析的影响系数法.东北重型机械学院学报,1992 16(4):310-316
S.P.CHAN.An Efficient Algorithm for Identification of Robot Parameters Including Drive Characteristics.Journal of Intelligent and Robotic Systems,2001(32):291-305
Praveen Bhatia, Janarthanan Thirunarayanan, Nalin Dave.An Expert System-based design of SCARA Robot.Expert System With Applications,1998(15):99-109
李育文, 王红卫, 罗国富, 等.局部闭链手控器的动态特性分
析.2000.6:176-178
周双林, 邹慧君, 姚燕安, 等.混合输入五杆机构运动性能的分析.2001.3:31-33
董明晓, 周以齐, 张明勤.PUMA机器人逆运动学求解新方法.组合机床与自动化加工技术,2000.10:19-21
Ya-Qing Zheng, Xiong-Wei Liu.Force Transmission Index Based Workspace Analysis of A Six DOF Wire-driven Parallel Manipulator.ASME 2002 Design Engineering Technical Conferences and Computer and Information in Engineering Conference. Montreal, Canada.
Stephen L. Canfield, James W. Beard, David Bennett, etc.Optimization And Control of A Spatial Compliant Manipulator.ASME 2002 Design Engineering Technical Conferences and Computer and Information in Engineering Conference. Montreal, Canada.
理查德·摩雷, 李泽湘, 夏恩卡·萨思特里.机器人操作的数学导论.北京:机械工业出版社,1998,11-101
Giacomo Mantriota.Performances of A Series Infinitely Variable Transmission With Type I Power Flow.Mechanism And Machine Theory,2002(37):579-597
薛定宇.科学运算语言Matlab5.3程序设计与应用.北京:清华大学出版社,2000, 15-201
清源计算机工作室.Matlab高级应用——图形及影像处理.北京:机械工业出 版社,2002,5-87