|Table of Contents|

Velocity Directional Manipulability Measures of Dual Armed Robot

《南京理工大学学报》(自然科学版)[ISSN:1005-9830/CN:32-1397/N]

Issue:
2005年02期
Page:
202-205
Research Field:
Publishing date:

Info

Title:
Velocity Directional Manipulability Measures of Dual Armed Robot
Author(s):
CHEN An-jun 1 XU Pei-xia 1LI Guo-liang 2
1.School of Mechanical Engineering, Southern Yangtze University,Wuxi 214122, China; 2. Network and Information Center , Xinyang Normal University,Xinyang 464000, China
Keywords:
dual armed robots manipulability ellipsoid directional manipulability measures opt imization methods
PACS:
TP242
DOI:
-
Abstract:
For the dual armed robot , the velocity t ransmission characteristics w ere discussed. On the basis of the manipulability ellipsoid and the direct ional manipulability measure of single armed mechanism velocity , the directional manipulability measures of linear velocity and rotat ion velocity of dual armed mechanism w ere defined and the velocity transmission characterist ics w ere measured in a special direction under a desig nated posture. T aking the manipulability measure of direct ion as the funct ion of target , the optimizat ion methods of opt imal direction of transmission velocity and opt imal manipulat ive conf ig urat ion w ere g iven. The result s show that the velocity t ransmission property of dual armed mechanism is w eak, but it is smoother than that of the single armed mechanism in different direct ions.

References:

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Memo

Memo:
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Last Update: 2013-05-23