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題名 | Correlation between Inertia Sensitivity Indices and Process Capability as a Robot Performance Measures=運用慣性敏感度指標及製程能力間之關係量測機械手臂之性能 |
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作者 | 陳宏毅; | 書刊名 | 明志技術學院學報 |
卷期 | 31 1999.07[民88.07] |
頁次 | 頁1-14 |
分類號 | 448.94 |
關鍵詞 | 敏感度指標; 機械手臂製程能力; Sensitivity indices; Robot process capability; |
語文 | 英文(English) |
中文摘要 | 運動和動力量測之間的關係,提供了評估機械手臂性能的一個更完整的方法。 在 動力性能量測方面(敏感度指標)代表了當機械手臂動作時所受到相關之非線性力量的大小 。 另一種名為機械手臂製程能力( RPC )的測量是透過實驗,提供運動方面性能的測量。 當尋求這兩種測量方法之關係,不同重要性因素考量之過程被使用在更進一步描繪機械手臂 結構及轉軸速度對其性能的影響。研究結果顯示這些建議的評斷過程提供了使用者去判斷影 響機械手臂性能的主要原因。 |
英文摘要 | A correlation between kinematic and dynamic measures is made for provideing a better evaluation of a robot's performance. The selected dynamic performance measure (sensitivity indices) represents the relative magnitude of the non-linear forces acting on the robot as it moves. Another performance measure, called Robot Process Capability (RPC), provides a kinematic measure which is generated from a set of Taguchi-based experiments. In correlating these two methods, various weighing procedures are applied to further delineate the effects of the arm's configuration and its joint velocities on the robot's performance. Resulting from this investigation, recommended evaluation procedures are given in which one can determine the key factors directly affecting the robot's performance. |
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