摘要
根据机器人工作位姿要求确定其自由度数、关节类型及排列、杆件尺寸、关节运动范围、机器人的位置等过程称为机器人的工作空间综合过程。本文侧重对已知的机器人结构提出了进行工作空间综合的优化方法。
According to the demands of working posture of end-effector, the number of DOF, joint arrangeof different types, link dimension,joint motion ranges and the location of robot can be decided roughly, thisprocess is usually called the workspace synthesis of robot.In this paper, an optimization method is put for-ward to carry on the workspace synthesis for a known structure type of industrial robot.
出处
《机器人》
EI
CSCD
北大核心
1994年第3期181-184,192,共5页
Robot
关键词
工作空间
工业机器人
Workspace,synthesis,optimization method
