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Wrench transformation technique for robot stiffness evaluation: Direct sum based solution and application to kinetostatic indices
Mechanism and Machine Theory ( IF 5.2 ) Pub Date : 2020-12-01 , DOI: 10.1016/j.mechmachtheory.2020.104040
Vladimir T. Portman

Abstract A new method is developed to define the stiffness values of an elastically supported system defined through the dimensionally inhomogeneous robot stiffness matrix (RSM). The RSM in its initial form exhaustively describes the robot equilibrium conditions, but its eigenvalues are undefined. Regular formal operations on equilibrium equations transform the initial wrench and reduce the RSM to a unique direct sum of two submatrices, separately describing the linear and angular stiffness features under mutual force-torque action. Eigenvalues of the direct sum exist and either directly present kinetostatic indices (KSI) or are used for KSI synthesis. Physical nature of the considered problem results in the coupled translation-rotation form of the KSI. Simulated application examples demonstrate the validity of the developed method for both the serial-kinematics and the parallel-kinematics robots.

中文翻译:

用于机器人刚度评估的扳手变换技术:基于直接求和的解决方案及其在动静力学指标中的应用

摘要 开发了一种新方法来定义通过尺寸不均匀机器人刚度矩阵 (RSM) 定义的弹性支撑系统的刚度值。初始形式的 RSM 详尽地描述了机器人的平衡条件,但其特征值未定义。平衡方程的常规形式运算将初始扳手转换并将 RSM 减少到两个子矩阵的唯一直接和,分别描述在相互的力 - 扭矩作用下的线性和角刚度特征。存在直接和的特征值,或者直接呈现动静力学指数 (KSI) 或用于 KSI 合成。所考虑问题的物理性质导致了 KSI 的耦合平移-旋转形式。
更新日期:2020-12-01
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