Abstract
In order to improve the dexterity of the manipulator in the global space, a kinematic model of the manipulator is established based on the D-H method. The Jacobian matrix of the manipulator is obtained. Based on the Jacobian matrix, the mean and the volatility of condition number index of the multi-DOF manipulator in the global space are established. The influence of rod parameters on the condition number index in the global space are analyzed by simulation. Through the variation of the mean condition number and the volatility index in the range of the design variable, the weighted coefficient of the two indicators are determined, and the comprehensive optimization indexes are established. Based on the comprehensive optimization index, the rod length parameters are optimized. The results show that the optimized dexterity indexes of the manipulator is improved.
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Acknowledgements
The authors gratefully acknowledge the financial supports for this research from National key research and development plan project (2018YFB1308100), the National Natural Science Foundation of China (Nos. 51805488; 51375458). This work is supported by Science Foundation of Zhejiang Sci-Tech University (ZSTU) under Grant No. 19022104-Y.
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Jing, Y., Ming, H., Lingyan, J., Deming, Z. (2019). Dexterity-Based Dimension Optimization of Muti-DOF Robotic Manipulator. In: Yu, H., Liu, J., Liu, L., Ju, Z., Liu, Y., Zhou, D. (eds) Intelligent Robotics and Applications. ICIRA 2019. Lecture Notes in Computer Science(), vol 11744. Springer, Cham. https://doi.org/10.1007/978-3-030-27541-9_51
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DOI: https://doi.org/10.1007/978-3-030-27541-9_51
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