中文摘要：

基于机器人静刚度模型，分析如何通过机器人臂长及位形优化提高机器人刚度。首先，在机器人典型传动部件刚度计算的基础上，分析刚度矩阵的最小奇异值，将之作为评价机器人静刚度性能的指标。然后，为了衡量机器人在整个工作空间中刚度性能的平均水平，提出采用刚度全域性能指标，并以之作为目标函数对机器人臂杆长度进行优化。最后，以本实验室开发的SCARA机器人为例，展示了优化方法的应用及其效果。

英文摘要：

The problem of how to increase the stiffness of a robot through optimization of its link lengths and configuration based on stiffness per- formance is addresses in this paper. Based on the static stiffness models of typical transmissions of robotic joints, the minimum singular value of the stiffness matrix is first analyzed and taken as a cri- terion to evaluate stiffness performance. To meas- ure the stiffness performance of a robot in its whole workspace, a global stiffness performance criterion is proposed and used as the objective to optimize link lengths of the robot. Finally, an ap- plication of the proposed optimization method is il-lustrated with laboratory as fectiveness of the SCARA robot developed in our an example. The feasibility and el- the method are verified by the appli- cation of the method.