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首页> 外文期刊>International Journal of Precision Engineering and Manufacturing >Link Length Determination Method for the Reduction of the Performance Deviation of the Manipulator: Extension of the Valid Workspace
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Link Length Determination Method for the Reduction of the Performance Deviation of the Manipulator: Extension of the Valid Workspace

机译：减少机械手性能偏差的连杆长度确定方法：有效工作空间的扩展

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摘要

In this study, a link length determination method for the reduction of the performance deviation in the whole workspace of the manipulator was proposed The structural length index (SLI), condition number (CN), and global conditioning index (GCI) were selected as performance indices for link length determination. To evaluate deviation, the CN was calculated in the whole workspace, and then the data was used to calculate the coefficient of variation. The Taguchi method was used to decrease the time of optimization for the whole workspace, and Grey relational analysis was performed to convert the values for multiple objective functions to one value defined by the Grey relational grade. Furthermore, the effects of the design factors on the objective function were analyzed through analysis of variance. Optimization was performed twice for each objective function to compare the result of the considering the performance deviation and the result of the considering the performance mean. Each objective function consists of (A) the SLI and the coefficient of variation of the CN and (B) the SLI and GCI. The validity of the proposed method was verified by comparing the results of (A) and (B) for performance deviation, mean and the rate of valid workspace.
机译：在这项研究中，提出了一种减少机械手整个工作空间性能偏差的连杆长度确定方法。选择结构长度指数（SLI），条件数（CN）和整体条件指数（GCI）作为性能指标。确定链路长度的索引。为了评估偏差，在整个工作区中计算了CN，然后将数据用于计算变异系数。使用Taguchi方法减少了整个工作空间的优化时间，并进行了灰色关联分析，以将多个目标函数的值转换为由灰色关联等级定义的一个值。此外，通过方差分析来分析设计因素对目标函数的影响。对每个目标函数进行两次优化，以比较考虑性能偏差的结果和考虑性能平均值的结果。每个目标函数由（A）SLI和CN的变化系数以及（B）SLI和GCI组成。通过比较（A）和（B）的性能偏差，均值和有效工作空间比率的结果，验证了该方法的有效性。

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