【摘要】 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。更多还原

【Abstract】 A dynamic optimization synthesis method which is suitable for multidegree-of--freedom robots is presented in this paper according to the effects of mechanismparameters of a manipulator on its dynamic property.This method is to gain theoptimal dynamic characteristics by means of computer-aided optimal design of theparameters of a manipulator mechanism meeting the needs of kinematics.After stu-dying and analyzing robot dynamics,three evaluation functions are defined in thispaper,The functions reflect robot dynamic performance from various points of view.更多还原