The optimum design of robotic manipulators using dexterity indices
The optimum design of robotic manipulators using dexterity indices
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DOI：
10.1016/0921-8890(92)90039-2
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发表时间：
1992
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影响因子：
--
通讯作者：
C. Gosselin
中科院分区：
文献类型：
--
作者：
C. Gosselin
本文提出了新的灵巧度指标，可应用于平面和空间机械手。这些指数是基于条件数的雅可比矩阵的机械手，这是已知的是他们的运动精度的措施。其他地方也提出了基于同一标准的灵活性指数。然而，由于制定的运动学方程，现有的指数受到缩放的机械手时，位置和方向的末端执行器都包括在运动学方程。这里提出了一个新的配方，这些方程，以避免这个问题的尺寸依赖性。提出了两个平面机械手的灵巧度指标：第一个是基于冗余制定的速度方程，而第二个是基于最小数量的参数。相应的指数也推导出空间机械手。最后，一个例子来说明使用这些指标的背景下，设计和优化的机械手。
This paper presents new dexterity indices that can be applied to planar and spatial manipulators. These indices are based on the condition number of the Jacobian matrix of the manipulators which is known to be a measure of their kinematic accuracy. Dexterity indices based on that same criterion have been presented elsewhere. However, due to the formulation of the kinematic equations, the existing indices are affected by a scaling of the manipulator when both the position and the orientation of the end effector are included in the kinematic equations. A new formulation of these equations is proposed here to avoid this problem of dimensional dependence. Two dexterity indices are presented for planar manipulators: the first one is based on a redundant formulation of the velocity equations whereas the second one is based on the mininum number of parameters. The corresponding indices are also derived for spatial manipulators. Finally, an example is included to illustrate the use of these indices in the context of design and optimization of manipulators.