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首页> 外文期刊>Mechanical Engineering Journal >Experimental validation of an optimum design method for a ball throwing robot considering degrees of freedom, link parameters, and motion pattern
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Experimental validation of an optimum design method for a ball throwing robot considering degrees of freedom, link parameters, and motion pattern

机译：考虑自由度，连杆参数和运动方式的投球机器人最佳设计方法的实验验证

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This paper considers a particular case of a robot body design method which determines degrees of freedom (DOFs) number and link parameters to maximize a target task performance, and feasibility of this design method is validated by several experiments. In this paper, the target task is to throw a ball a long distance, and a multi DOFs ball throwing robot is designed and manufactured for the experimental validations. Design parameters are the robot body parameters and its motion pattern, and they are designed to maximize ball reaching distance under long throw task conditions. To define the link lengths and the robot DOFs number as design parameters, it is assumed that robot links have identical actuators, and these link parameters are defined as functions of link lengths. This design method is applied to the manufactured ball throwing robot, and its body parameters and motion pattern are designed. The ball reaching distance is changed along with the DOFs number, and as a result, 5 DOFs robot body and its throwing motion are obtained, and the ball reaching distance is maximized. Finally, the ball throwing experiments of the designed 2 DOFs and 5 DOFs robots are executed in each 8 trial. Average values of the ball reaching distance are close to the calculation results, therefore, the feasibility of the calculation results is demonstrated.
机译：本文考虑了一种机器人主体设计方法的特殊情况，该方法确定自由度（DOF）数和链接参数以最大化目标任务性能，并且该设计方法的可行性通过多次实验得到了验证。在本文中，目标任务是向远距离投掷一个球，并设计和制造了一个多自由度的投球机器人用于实验验证。设计参数是机器人的身体参数及其运动模式，它们的设计目的是在长时间投掷任务条件下最大程度地达到球的到达距离。为了将链接长度和机器人自由度数定义为设计参数，假定机器人链接具有相同的执行器，并且这些链接参数被定义为链接长度的函数。该设计方法应用于制造的投球机器人，并设计了其身体参数和运动方式。球的到达距离随自由度数而变化，结果，获得了5个自由度的机器人主体及其投掷动作，并且使球的到达距离最大化。最后，在每8次试验中，将对设计的2个自由度和5个自由度的机器人进行掷球实验。球到达距离的平均值接近于计算结果，因此，证明了计算结果的可行性。

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