This article develops a rapid performance evaluation approach for lower mobility hybrid robot, which provides guidance for manipulator evaluation, design, and optimization. First, a general position vector model of gravity center for the lower mobility hybrid robot in the whole workspace is constructed based on a general inverse kinematic model. A performance evaluation index based on gravity-center position is then proposed, where the coordinates pointing to the supporting direction are selected as the evaluation index of the robot performance. Furthermore, the credibility of the evaluation approach is verified from a 5-DOF hybrid robot (TriMule) by comparing with the condition number and the first natural frequency. Analysis results demonstrate that the evaluation index can not only reflect the performance spatial distribution in the whole workspace but also is sensitive to the performance difference caused by mass distribution. The proposed performance evaluation approach provides a new index for the rapid design and optimization of the cantilever robot.

本文开发了一种低移动混合机器人的快速性能评估方法，为机械臂评估、设计和优化提供指导。首先，基于通用逆运动学模型，构建了低移动混合机器人在整个工作空间内的通用重心位置矢量模型。提出了一种基于重心位置的性能评价指标，选取指向支撑方向的坐标作为机器人性能的评价指标。此外，通过与条件数和第一固有频率进行比较，在五自由度混合机器人（TriMule）上验证了评估方法的可信度。分析结果表明，该评价指标不仅能够反映整个工作空间的性能空间分布，而且对质量分布引起的性能差异敏感。所提出的性能评估方法为悬臂机器人的快速设计和优化提供了新的指标。