中文摘要：

串联操作臂的性能不但与拓扑结构,而且与尺度参数密切相关,在研究拓扑选型时有必要考虑尺度参数对其运动学性能的影响。提出一种包含拓扑结构和尺度参数的6R串联操作臂构型优选方法。通过枚举相邻关节轴线的可能组合得到6种构型,构造出一种位于中间轴线连体坐标系下的速度雅可比矩阵通用算法,并对上述各种拓扑构型分别构造包含结构参数的雅可比矩阵及其行列式,以使雅可比矩阵行列式为零的结构参数数目最小,且所包含正交轴线关系最多为构型优选评价指标。据此综合出一种符合上述优选指标的构型。利用该方法综合出的6R串联操作臂构型具有灵活度好、便于电动机装配、且折叠性好等优点。

英文摘要：

Performance of the serial manipulators has a close relationship with the topologies and the dimensional parameters.It is important to take consider the influence of the dimensional parameters on the kinematic performance of the manipulators.Containing topologies and dimensional parameters,a method for the type synthesis of 6R serial manipulators is presented.On the basis of enumeration of six possible architectures having different joint axis arrangement,a general algorithm for velocity Jacobian matrix in the link frame of middle joint axes is constructed,the Jacobian matrices and their determinants are deduced for these architectures,an index to select the optimal architecture is proposed by minimizing the number of geometrical parameters that may cause the Jacobian determinant to be zero and by maximizing the number of the orthogonally placed joint axes.An optimized architecture which accords with that manipulability index is synthesized out.It shows that the optimized architecture features better dexterity and foldability,and easy motor assembly.