Abstract:

An automated fiber placement robotic manipulator's acceleration was drawn according to the automated fiber placement robotic manipulator kinematics and the acceleration derivation was defined.The acceleration derivation size related Jacobian matrix and Hessian matrix,thus the dynamics performance index of the automated fiber placement robotic manipulator was proposed based on the Jacobian matrix and Hessian matrix.The performance index was used to analyze the dynamics of the automated fiber placement robotic manipulator;the dynamic performance atlases were plotted,the curves between structure size of the automated fiber placement robotic manipulator and the dynamics performance were obtained.The results show that the dynamics performance index based on Jacobian matrix and Hessian matrix impacts on the dynamics performance more greatly comparing with the velocity performance index based on Jacobian matrix.The dynamics performance index based on Jacobian matrix and Hessian matrix is feasible and efficient as a measure of the automated fiber placement robotic manipulator's dynamics.

Key words: robotic manipulator, Jacobian matrix, Hessian matrix, influence coefficient, dynamics performance index

摘要：

根据自动铺丝机器人的运动学方程,得出其加速度,并定义加速度偏差。研究发现,加速度偏差的大小与Jacobian矩阵和Hessian矩阵有关,据此提出了基于Jacobian矩阵和Hessian矩阵的自动铺丝机器人动力学性能指标。采用该性能指标对自动铺丝机器人进行了动力学分析,绘出动力学性能指标图谱,得到机器人结构尺寸和动力学性能之间的变化曲线图。结果表明,与基于Jacobian矩阵的速度水平上的性能指标相比,采用Jacobian矩阵和Hessian矩阵相结合的机器人动力学性能指标对机器人动力学性能影响更大,故采用Jacobian矩阵和Hessian矩阵相结合的动力学性能指标作为衡量机器人动力学的性能指标是可行的。
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关键词: 机器人, Jacobian矩阵, Hessian矩阵, 影响系数, 动力学性能指标