Dynamic coordination of a self-reconfigurable manipulator system
Dynamic coordination of a self-reconfigurable manipulator system
复制标题
自重构机械臂系统的动态协调
DOI：
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发表时间：
1991
期刊：
影响因子：
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通讯作者：
S. Lee
中科院分区：
文献类型：
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作者：
S. Kim;S. Lee
提出了一种能够根据给定任务要求改变机械结构的自重构机械臂系统的动态协调问题。通过串联、并联和支撑结构对双臂系统的拓扑结构进行重构，实现了自重构。特别强调的是放在两个武器有三个不同的双臂拓扑结构的动态协调。建立了具有三种双臂拓扑结构的双臂系统的笛卡尔空间动力学模型，并推导了双臂协作时的运动学和动力学约束。双臂动态可操作性的定义来量化的动态性能的三个双臂拓扑结构的笛卡尔加速度产生的效率。提出了一种基于双臂动态可操作性选择串联、并联和支撑结构的方法。<<ETX>>
The authors present the dynamic coordination of a self-reconfigurable manipulator system capable of changing its mechanical structure according to given task requirements. The self-reconfiguration is achieved by reconfiguring the topology of a dual-arm system through serial, parallel, and bracing structures. Particular emphasis is placed on the dynamic coordination of two arms having three different dual-arm topologies. The authors develop the Cartesian space dynamic models of a dual-arm system of three dual-arm topologies and derive the kinematic and dynamic constraints imposed on two arms in cooperation. Dual-arm dynamic manipulabilities are defined to quantify the dynamic performance of three dual-arm topologies in terms of the efficiency of generating Cartesian accelerations. A methodology of selecting serial, parallel, and bracing structures based on dual-arm dynamic manipulabilities is provided.<<ETX>>