SIA OpenIR  > 工艺装备与智能机器人研究室
Alternative TitleResearch on configuration analysis of collaborative robots
田勇1,2; 王洪光1; 潘新安1; 胡明伟1,2
Source Publication智能系统学报
Indexed ByCSCD
Contribution Rank1
Funding Organization国家自然科学基金(51405482) ; 中国科学院重点部署项目(KGZD-EW-608-1) ; 机器人学国家重点实验室自主课题(2014-Z09)
Keyword协作机器人 构型 演化 偏置 性能指标
Other AbstractThrough analyzing the configurations of the collaborative robots, it is concluded that the offset is an important factor affecting the configuration. First, the configurations of the existing typical collaborative robots are analyzed, and the differences are obtained through the evolutionary process. Then the offset is defined using the differences between configurations, which is divided into S-type and Y-type by the influence on the range of motion of the joint. Finally, using the global performance index, the workspace volume index and the flexible workspace index as performance evaluation criteria, the performances of the robots are simulated, such as iiwa, Sawyer, and Yumi. Through comparative analysis, it can be seen that the existence of offset reduces the global performance of the configuration and the volumetric performance of the workspace, but improves the performance of the flexible workspace. The results show that the offset is an important factor influencing robot performance. This analysis provides a theoretical basis for the configuration design of the collaborative robot.
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Document Type期刊论文
Corresponding Author王洪光
Recommended Citation
GB/T 7714
田勇,王洪光,潘新安,等. 协作机器人的构型分析研究[J]. 智能系统学报,2019,14(2):217–223.
APA 田勇,王洪光,潘新安,&胡明伟.(2019).协作机器人的构型分析研究.智能系统学报,14(2),217–223.
MLA 田勇,et al."协作机器人的构型分析研究".智能系统学报 14.2(2019):217–223.
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