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[1]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.[doi:10.11992/tis.201806044]
　TIAN Yong,WANG Hongguang,PAN Xinan,et al.Research on configuration analysis of collaborative robots[J].CAAI Transactions on Intelligent Systems,2019,14(2):217-223.[doi:10.11992/tis.201806044]

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协作机器人的构型分析研究

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《智能系统学报》[ISSN 1673-4785/CN 23-1538/TP] 卷: 14 期数: 2019年第2期页码: 217-223 栏目: 学术论文—智能系统出版日期: 2019-03-05

Title:: Research on configuration analysis of collaborative robots

作者:: 田勇^1,2, 王洪光¹, 潘新安¹, 胡明伟^1,2; 1. 中国科学院沈阳自动化研究所机器人学国家重点实验室, 辽宁沈阳 110016;
2. 中国科学院大学, 北京 100049

Author(s):: TIAN Yong^1,2, WANG Hongguang¹, PAN Xinan¹, HU Mingwei^1,2; 1. State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang 110016;
2. University of Chinese Academy of Sciences, Beijing 100049

关键词:: 协作机器人; 构型; 演化; 偏置; 性能指标

Keywords:: collaborative robots; configuration; evolutionary; offset; performance Index

分类号:: TP241

DOI:: 10.11992/tis.201806044

摘要:: 针对协作机器人的构型分析研究，得出了偏置是影响机器人构型的一个重要因素。首先，对现有典型协作机器人的构型进行分析，通过构型间的内在联系与演化过程得到构型之间的差异。然后利用构型之间的差异引出了偏置的定义，并通过偏置对关节运动范围的影响将其分为S型偏置和Y型偏置。最后以全局性能指标、工作空间体积指标和灵活工作空间指标为性能评价标准，对iiwa、Sawyer、Yumi三种典型构型的性能进行了仿真。通过对比分析可知，偏置的存在使构型的全局性能和工作空间体积性能降低，但对灵活工作空间性能有提高作用。结果表明偏置是影响机器人性能的重要因素，该分析研究为协作机器人的构型设计提供了理论依据。

Abstract:: In this study, by analyzing the configurations of collaborative robots, it is concluded that offset is an important factor affecting the configuration. First, the configurations of existing typical collaborative robots were analyzed to obtain the difference of configurations through the evolutionary process between the configurations. Then, the offset was defined using the difference between configurations and was divided into S-type and Y-type according to the influence on the range of motion of the joint. Finally, the global performance index, the workspace volume index, and the flexible workspace index were used as performance evaluation criteria to simulate the performance of collaborative robots, namely iiwa, Sawyer, and Yumi. Through comparative analysis, it was seen that the existence of offset reduced the global performance of configuration and the volumetric performance of workspace, but improved the performance of flexible workspace. The results show that offset is an important factor influencing robot performance. This analysis provides a theoretical basis for the configuration design of collaborative robots.

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备注/Memo

收稿日期:2018-06-25。
基金项目:国家自然科学基金项目（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）.
作者简介:田勇，男，1988年，博士研究生，主要研究方向为机械电子。;王洪光，男，1965年，研究员，博士生导师，主要研究方向为机器人机构学、特种机器人和机电一体化技术。发表学术论文170余篇。获得发明和实用新型专利40余项。主持多项基金项目。;潘新安，男，1982年，副研究员，博士，主要研究方向为机器人机构学。发表学术论文10余篇。获得发明和实用新型专利6项。主持国家自然科学青年基金项目1项，机器人学国家重点实验室自主课题1项。
通讯作者:王洪光.E-mail:hgwang@sia.cn

更新日期/Last Update: 2019-04-25

协作机器人的构型分析研究 PDF下载HTML

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协作机器人的构型分析研究

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