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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)
作者部门空间自动化技术研究室
会议名称2016 IEEE International Conference on Robotics and Biomimetics (ROBIO 2016)
会议日期December 3-7, 2016
会议地点Qingdao, China
会议录名称Proceedings of the 2016 IEEE International Conference on Robotics and Biomimetics (ROBIO 2016)
出版者IEEE
出版地New York
2016
页码1742-1747
收录类别EI ; CPCI(ISTP)
EI收录号20171403534812
WOS记录号WOS:000405724600293
产权排序1
ISBN号978-1-5090-4363-7
摘要By 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.
语种英语
引用统计
文献类型会议论文
条目标识符http://ir.sia.cn/handle/173321/20193
专题空间自动化技术研究室
通讯作者Tian Y(田勇)
作者单位State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences, China
推荐引用方式
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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