【摘要】 依据六自由度机器人设计"臂腕分离"的原则,基于D-H参数对六自由度机器人构型进行拓扑分类,得到32类三自由度臂部结构。研究了位置雅可比与构型奇异性之间的关系,区分出12类结构奇异构型和20类非结构奇异构型。对机器人臂部结构构型的负载能力特性进行分析,得到10类负载性能较好的非结构奇异构型。编制了臂部结构构型分类表,确定了基于负载能力的机器人构型设计原则,能用于指导机器人的构型设计。进行了机器人构型实例分析与蒸汽发生器检修机器人工程样机研制,验证了所提出构型设计方法的有效性。更多还原

【Abstract】 According to topological classification based on D-H link parameters,32 categories 3-DOF arm structureare obtained in terms of the design principle"arm and wrist separation"of the robot wth six degrees of freedom.The relationship between the regional Jacobian and configuration singularities are studied.12 categories of structural singular configurations and 20 categories of non-structural singular configurations are distinguished in this paper.Load capacity characteristics of the the robot arm configuration are analysized,and get the 10 class configuration that have better load performance and non-structured singular configuration.The results of configuration classification are listed in a form that can be used to guide the design work of robot configuration.The robot configuration design principles based on the load capacity are determined.The robot configurations instance analysis and prototype development of the steam generator overhaul robot verify the correctness of the proposed configuration design method.更多还原