华侨大学学报（自然科学版）Issue(1)：12-16,5.DOI:10.11830/ISSN.1000-5013.2016.01.0012
双自由度串联机械手的输入转矩优化
Input Torque Optimization of a Double Degree of Freedom Serial Manipulator
摘要
Abstract
As for the problem that the input torque of the serial manipulator actuator is large in the executing process, which leads to the instability of the mechanism motion,a double degree of freedom serial manipulator kinematic sketch model is created.Using the energy minimization control method,the dynamic equation of the energy control is construc-ted.Manipulator joint angle,the quality of connecting rod,and the distance between joints are analyzed,then the optimi-zation equation are determined.Taking the optimization method to calculate the input torque control equation,the optimal size of the input torque is obtained.Combining with concrete examples,the optimized input torque is simulated in the Matlab/Simulink software.Results show that compared with the simulation results before optimization,the optimized de-sign of the manipulator input torque is smaller,the overall fluctuation is relatively stable and the result is better.关键词
机械手/串联/双自由度/输入转矩/动力学方程/仿真分析Key words
manipulator/series/double degree of freedom/input torque/dynamic equation/simulation analysis分类
信息技术与安全科学引用本文复制引用
张安民,赵武..双自由度串联机械手的输入转矩优化[J].华侨大学学报（自然科学版）,2016,(1):12-16,5.基金项目
四川省科技计划项目 （）
