通过优化柔性椭球体对欠驱动冗余度机械臂的自重构外文文献翻译、中英文翻译、外文翻译.docVIP

SELF RECONFlGURATlON OF UNDERACTUATED REDUNDANTMANIPULATORS WITH OPTIMIZlNGTHE FLEXIBILITY ELLlPSOlD He Guangping SchooI of MechanicaI and Electrical Engineering，North China University of Technology,Beijing 1 00041，China Lu Zhen SchooI of Automation Science and ElectricaI Engineering．Beijing University of Aeronautics and Astronautics，Beijing 1 00083，China Abstract：The multi—modes feature，the measure of the manipulating flexibility,and self-reconfiguration contro1 method of the underactuated redun dantman ipulators are investigated based on the opti—mizing technology．The relationship between the configuration of the joint space and the manipulating flexibility of the underactuated redun dan t man ipulator is an alyzed．a new measure of man ipulating flexibiltty ellipsoid for the underactuated redundant manipulator with passive oints in Locked mode jsproposed,which can be used to get the optimal configuration for the realization of the self-reconfiguration control．Furthermore．a time—varying nonlinear contro1 method based on har．monic inputs is suggested for fulfilling the self-reconfiguration．A simulation example of a three—Ds underactuated manipulator with one passive joint features some aspects of the investigations． Key words：Underactuated manipulators Selfreconfiguration Optimization Nonlinear contro1 0 INTRODUCTIONt tolerance based on the underactuated technology is essential when some actuated components reveal some troubles? An underacmated manipulator also can be designed as a coopera．tion robot that is to say C0B0T ．The drivers ofthe COBOT are not for acre ating the machine but for providing a ldnematics constraint that is usually nonholonomic．The C0B0T needs outside 1otee that is provided by operator and can complete some accurate apphcatlons such as in biology engineenng，surgical，and semiconductor manufacture and so on．In the field of mechanisms，the metamorphic mechanism has multimodes and can be trans．formed from one mode to an other,had been presented rec