在机械臂上增加一个自由度的效果

2022 IEEE International Conference on Machine Learning and Applied Network Technologies (ICMLANT) Pub Date : 2022-12-15 DOI:10.1109/ICMLANT56191.2022.9996535

M. Cardona, J. L. Ordoñez-Ávila, Islam Magomedouv

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引用次数: 0

摘要

工业机器人的形态学是许多研究者正在研究的课题。可以比较6自由度和7自由度的电影机器人，以确定其优势和适用性。这个项目的目的是比较增加一个自由度末端执行器到一个六自由度机器人的效果，以了解这代表的运动学优势。本文提出的方法是在同一机器人上增加一个自由度，以统计比较两个系统之间是否存在显著差异。统计分析的数据是通过solidworks运动仿真提取的。通过适当进行正态性、符号检验和t-student检验的统计检验，表明系统之间没有显著差异。通过统计试验得出运动学特性不是两种系统选择的相关参数。

本文章由计算机程序翻译，如有差异，请以英文原文为准。

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The Effect of Adding a One Degree of Freedom to a Robotic Manipulator

The morphology of industrial robots is a topic that many researchers are analyzing. Robots cinematic of 6 and 7 DOF can be compared to determine its advantage and applicability. The purpose of this project is to compare the effect of adding a one degree of freedom end effector to a six degree of freedom robot, in order to understand the kinematic advantages that this represents. The method proposed in this work consists of adding a degree of freedom to the same robot to statistically compare if there is a significant difference between the two systems. The data for the statistical analysis were extracted by means of solidworks motion simulations. By performing the statistical tests of normality, sign test and t-student test as appropriate, it was shown that there are no significant differences in the systems. It is concluded that the kinematic characteristics are not a relevant parameter for the selection between the two systems based on the statistical tests.

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2022 IEEE International Conference on Machine Learning and Applied Network Technologies (ICMLANT)

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