基于运动学的Delta机器人优化设计

摘要

机器人雅克比矩阵最小奇异值与条件数是其工作性能的重要评价指标.因此,针对研发的Delta机器人进行运动学分析,根据Delta机器人雅克比矩阵奇异值随尺度参数的变化规律曲线,确定一组最优设计尺度参数.同时对该Delta机器人进行全域条件数分析,得到Delta机器人操作性能在全域的变化规律,根据这一变化规律能有效地提高Delta机器人的工作性能.通过上述分析能够很好地对Delta机器人进行优化设计.%The singular value and conditional number of the Jacobian matrix are the main evaluation index of the Delta robot' s working performance.Therefore,kinematics analysis is done for the Delta robot.Based on the rule curve,which the singular value of Jacobian matrix changes along with the scale parameter,a group of the optimal scaling parameters is confirmed.Meanwhile the conditional number of the mechanism is analyzed to acquire the change rule of the operating performance in the universe.According to the rule,the work performance of robot can be increased effectively.Based on the analysis,some optimization designs can be done in the Delta robot.