Two steps are involved to determine transmission ratios of serial robot, i.e. relative proportion of transmission ratios determination and absolute transmission ratios determination, and the former is stressed from viewpoint of manipulability. Based on analyzing the essence of manipulability index related with condition number, the determination of relative proportion of transmission ratios was formulated as optimization of manipulability related to driving space. An optimization model on the basis of global manipulability related to driving space was given to determinate relative proportion of transmission ratios. A method to obtain Jacobi matrix in the optimization model was proposed with consideration of the difference of power elements’ velocity driving capability and endeffecter’ pose velocity of job requirement. At last, an optimization process was conducted to determine relative proportion of transmission ratios of a 6-DOF serial robot, and its global manipulability related to driving space was increased.
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杨新刚,黄玉美,杨文栋,史恩秀.基于可操作性的串联机器人相对传动比优[J].农业机械学报,2009,40(8):209-213. Proportion of Serial Robot Transmission Ratios Optimization Based on Manipulability[J]. Transactions of the Chinese Society for Agricultural Machinery,2009,40(8):209-213.