关节型工业机器人工作空间及结构尺寸参数的一种确定方法

A Method Determining the Workspace and the Shructure Parameters of Jointed Industrial Robots

提出了一种适用于工程设计的确定关节型工业机器人工作空间及结构尺寸参数的简易而又实用的方法。根据机器人工作空间主视图边界曲线上特定的三点座标值，利用数值计算方法就可以确定机器人的结构尺寸参数（大小臂长度Ｌ１和Ｌ２的值，及其旋转角θ１和θ２的极限值），再根据这些结构尺寸参数确定机器人的工作空间。另外依此编制了相应的软件Ｒｏｂｓｐａｃｅ，只要输入三点的座标值及机器人机座的高度和机座旋转角度，便能确定机器人结构尺寸参数及其工作空间，并能显示、打印结构尺寸参数结果及工作空间边界曲线。

The paper suggests a simple and practical method determining the workspace and the structure parameters of jointed industrial robots. This method can be used in engineering design. Giving specifec three points of the boundary curves of the workspace and making use of mathematital calculation method, we can determine the structure parameters of robot(the length values L1 and L2 of robot arms and the maximum and minimum valbues of their revolution angularθ1 and θ2),then determine the robot workspace according to these structure parameters.According to the algorithm as mentioned above, the au-thors developed a software ROBSPACE in which the structere parameters and the workspace of robot can be determined if arbitrary three points and the heights of robot base are given. Also,in this software,the results of the structure parameters and the workspace boundary curves of robot can be printed through a printer and displayed through the computer screen.