论文标题
空间操纵器的尺寸合成速度和力传输，以围绕指定任务点操作
Dimensional synthesis of spatial manipulators for velocity and force transmission for operation around a specified task point
论文作者
论文摘要
尺寸合成是指通过优化各种性能指标的操纵器的尺寸设计。这项研究的动机是通过优化工作空间中预定的任务点周围的每个操纵器的可操作性，并最终给予操纵器的处方以及优化的尺寸，以优化速度和力传输，可以对各种空间操纵器进行维数合成。提出了一种制定操纵器的Jacobian矩阵的系统方法。进行可操作性的优化是为了操纵96个1多型操纵器所选任务，645个二元操纵器，8个3型操纵器和15个4多型操纵器的操作，从而在其同伴纸上枚举的枚举中，从而使Manipulators的Manipulators unipulators uniples of loge norks of unipulators命令，从而使Manipulator unipertos枚举进行了数字，从而使Manipulator uniperation unipulators命中率。呈现这些操纵器组的处方及其缩放条件数和有序索引。这为设计师提供了操纵器的处方，并具有优化的尺寸，以反映在给定速度和力传输的给定任务点附近的最终效果的性能。
Dimensional synthesis refers to design of the dimensions of manipulators by optimising different kinds of performance indices. The motivation of this study is to perform dimensional synthesis for a wide set of spatial manipulators by optimising the manipulability of each manipulator around a pre-defined task point in the workspace and to finally give a prescription of manipulators along with their dimensions optimised for velocity and force transmission. A systematic method to formulate Jacobian matrix of a manipulator is presented. Optimisation of manipulability is performed for manipulation of the end-effector around a chosen task point for 96 1-DOF manipulators, 645 2-DOF manipulators, 8 3-DOF manipulators and 15 4-DOF manipulators taken from the result of enumeration of manipulators that is done in its companion paper devoted to enumeration of possible manipulators up to a number of links. Prescriptions for these sets of manipulators are presented along with their scaled condition numbers and their ordered indices. This gives the designer a prescription of manipulators with their optimised dimensions that reflects the performance of the end-effector around the given task point for velocity and force transmission.
