中文摘要：

研究广泛用于高速抓放操作的Delta机械手动力尺度综合方法。在建立系统运动学和刚体动力学模型的基础上,利用奇异值分解原理,提出一种基于单轴最大驱动力矩全域最大值最小的动力学性能评价指标。该指标可表示为系统尺度和惯性参数及位形的显函数形式,可直接用于观察奇异位形的出现条件。在考虑工作空间/机构尺度比、速度、精度和刚度等尺度和映射特性约束基础上,利用工程实例研究映射特性约束对尺度参数和动力学性能评价指标的影响规律,并据此综合出一组在满足上述约束条件下使得系统动力学性能最优的尺度参数。

英文摘要：

The dynamic dimensional synthesis of Delta robot widely used for high-speed pick-and-place operations is studied. On the basis of the inverse kinematic and rigid body dynamic formulation, a novel global dynamic performance index is proposed for minimizing the maximum driving torque of a single active joint. The proposed index can explicitly be expressed in terms of dimensional and inertial parameters as well as system configurations, allowing the singular configurations to be easily found. Various geometrical and performance constraints are taken into account in terms of workspace/machine volume ratio, lower and upper bounds of mapping characteristics in terms of velocity, accuracy and actuation rigidity between the joint space and the operation space. The effects of the performance constraints on the feasible domain of design variables and the performance index are investigated in depth via an example, enabling a set of optimized dimensional parameters to be obtained for achieving a good dynamic performance throughout the entire workspace.