用热力学新框架优化两连杆机械臂能效，提升运动效率。
Efficiency Optimization of a Two-link Planar Robotic Arm
- 基于动力系统框架重构热力学原理，分析周期运动能量传递。
- 通过平均能量与正负能量传递分类，实现能效优化约束求解。
- 适合机器人能效设计与热力学建模研究者参考。
针对两连杆平面机械臂的能量消耗优化问题，以系统效率为目标进行研究。采用动力系统框架下新的热力学原理表述方法，考虑机械臂在任务空间中从点A到点B的周期性运动，并在抵抗外力条件下分析其平均能量特性。将两关节间的能量传递率划分为正负两类，结合平均能量数值，解决满足第二定律新表述约束下的优化问题。该方法为机械臂高效运动设计提供了理论支持。
原文摘要 · Abstract (English)
Energy consumption optimization of a two-link planar robotic arm is considered with the system's efficiency being the target for optimization. A new formulation of thermodynamic principles within the framework of dynamical systems is used. This approach is applied by considering cyclic motions for the robotic arm and analyzing the cyclic averaged energies while the robotic arm is tasked with going from point A to point B in the task space while resisting an external force. The energy transfer rate between the links is classified into positive and negative and the results combined with the averaged energy quantities, are used to address the optimization problem while adhering to the constraints imposed by the second law of thermodynamics in its new formulation.
Thank you to arXiv for use of its open access interoperability. PaperDance 不是 arXiv 官方产品；中文卡片由大模型生成，请以原文为准。