Optimization of structural parameters for spatial flexible redundant manipulators with maximum ratio of load to mass

作     者：ZHANG Xu-ping YU Yue-qing 

作者机构：Department of Mackine Design School of Mechanical Engineering Beijing Polytechnic University Beijing 100022 China 

出 版 物：《光学精密工程》 (Optics and Precision Engineering)

年 卷 期：2005年第13卷第5期

页      面：561-569页

核心收录：

学科分类：080902[工学-电路与系统] 0809[工学-电子科学与技术（可授工学、理学学位）] 080202[工学-机械电子工程] 08[工学] 0804[工学-仪器科学与技术] 0802[工学-机械工程] 

基　　金：北京市教委科研项目 

主　　题：调节器 结构参数 机器人 动力性质 KED 

摘      要：Optimization of structural parameters aimed at improving the load carrying capacity of spatial flexible redundant manipulators is presented in this paper. In order to increase the ratio of load to mass of robots, the cross-sectional parameters and constructional parameters are optimized respectively. The cross-sectional and configurational parameters are optimized simultaneously. The numerical simulation of a 4R spatial manipulator is performed. The results show that the load capacity of robots has been greatly improved through the optimization strategies proposed in this paper.