关键词: 机器人, Jacobian矩阵, Hessian矩阵, 影响系数, 动力学性能指标

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