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Configuration analysis of a 6R manipulator based on an improved performance index
Tian Y(田勇); Wang HG(王洪光); Pan XA(潘新安)
Department空间自动化技术研究室
Conference Name2016 IEEE International Conference on Robotics and Biomimetics (ROBIO 2016)
Conference DateDecember 3-7, 2016
Conference PlaceQingdao, China
Source PublicationProceedings of the 2016 IEEE International Conference on Robotics and Biomimetics (ROBIO 2016)
PublisherIEEE
Publication PlaceNew York
2016
Pages1742-1747
Indexed ByEI ; CPCI(ISTP)
EI Accession number20171403534812
WOS IDWOS:000405724600293
Contribution Rank1
ISBN978-1-5090-4363-7
AbstractBy analyzing the configuration of a 6R manipulator based on global performance index, the problem is proposed in this paper. The performances of two configurations cannot be compared based on the global performance index, if the configurations have same index. To solve the problem, an improved performance index is proposed in this paper. Firstly, this paper points out the boundary distribution index (BDI) based on the distribution of the singular points in the workspace. Secondly, the effectiveness of BDI is verified by comparing with the existing performance index. In addition, an improved performance index is established with the combination of the existing performance index and BDI. Then, the effect of offset on the manipulator is analyzed based on the improved performance index. Finally, the optimized configuration is obtained by the improved performance index and contrasts with other configuration. Then, the effectiveness of the improved performance index is verified.
Language英语
Citation statistics
Document Type会议论文
Identifierhttp://ir.sia.cn/handle/173321/20193
Collection空间自动化技术研究室
Corresponding AuthorTian Y(田勇)
AffiliationState Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences, China
Recommended Citation
GB/T 7714
Tian Y,Wang HG,Pan XA. Configuration analysis of a 6R manipulator based on an improved performance index[C]. New York:IEEE,2016:1742-1747.
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