摘要
六自由度绳索悬挂式并联机器人在机械加工、物料搬运和抢险救灾等方面具有广阔的应用前景。工作空间和抗外力扰动鲁棒性是这类欠约束绳索机器人的两项重要性能指标。在绳索长度、动平台尺寸和雅可比矩阵条件数等约束下,本文研究了工作空间的体积和基于运动旋量斜率的鲁棒性与动、定平台几何构型、半径比及动平台姿态之间的关系,首次得出了工作空间的形状及其变化规律。研究结论对这类机器人的设计和使用都具有较高的参考价值。
Cable-suspended parallel robots with six degrees of freedom have wide ap.plications in areas such as machining, material handling, rescue and cleanup of disaster sites. Workspace and disturbance robustness are two important performance indexes for the underconstrained cable robots. Under the constraints of cable length, dimension of moving platform and condition numbers of Jacobian matrix, the variations of workspace volume and twist-based slope robustness versus geometric configurations, ratios and orientations of platforms were studied in this paper. The shape of workspace and its variation rules were also developed for the first time. The research conclusions will be of great value in the design and operation of robots.
出处
《机械科学与技术》
CSCD
北大核心
2006年第3期268-272,共5页
Mechanical Science and Technology for Aerospace Engineering
基金
大天区面积多目标光谱望远镜(LAMOST)国家大科学工程项目资助
