Abstract: For the influence of manipulator joints'velocity and angular velocity on the precision manipulator,the precision motion of manipulator delivery mode based on neuron Temporal Integration Capability (TIC) was presented with inspiration of time and space characteristics of biological neurons.The precision motion of manipulator transmission system and biological neurons in the model were researched,the influence of joint parts on end of manipulator speed and the tissue of neuron model were analyzed.Combining with the working mechanism of neuron model,its space-time characteristics of integrated ability was discussed,the precision motion transfer mode was solved,and the manipulator was deduced.The mathematical model of influencing on manipulator executor speed with joints velocity and angular velocity was deduced,thus the mapping relationship of velocity,angle velocity and end of manipulator speed in three axes direction was obtained.Six degrees of freedom of heavy manipulator were simulated,and the conclusion showed that the influence of speed degree of angular velocity error on terminal speed was reduced by the space-time integration ability of transfer mode,and the effectiveness of the proposed delivery mode was verified.

Key words: neural model, time integration, manipulator, transfer mode, Jacobian matrix

摘要： 针对机械手关节处运动速度、角速度对精密机械手的影响,受生物神经元时空整合特点的启发,提出基于神经元时空整合能力重载精密机械手的传递模式,研究机械手的运动学正解和生物学中的神经元模型,分析关节各部分组成对机械手末端速度的影响和神经元模型的组织构成,结合神经元模型的工作机理分析其时空整合能力的特性,求解机械手精密运动的传递模式,同时推导关节速度、角速度对机械手末端执行器速度影响的数学模型,得出关节角速度、角度到机械手末端速度在x,y和z三个坐标轴方向上的映射关系,对6自由度的重载机械手进行了仿真。结论表明,时空整合能力的传递模式减小了关节处速度、角速度误差对其末端速度的影响程度,验证了传递模式的合理性和有效性。

关键词: 神经元模型, 时间整合, 机械手, 传递模式, 雅可比矩阵