平面冗余与非冗余并联机器人工作空间图谱的比较研究

Comparative Study of Workspace Spectrograms of Planar Redundant or Nonredundant Parallel Manipulators

并联机器人的结构参数决定其工作空间的特性。本文对并联机器人的杆件尺寸参数采用无量纲处理方法,建立了平面冗余与非冗余并联机器人的结构参数与工作空间形状的函数关系,绘制了两者基于无量纲参数的工作空间图谱,比较了两类工作空间的特点与优缺点,为并联机器人的机构设计提供了系统的参考依据。

The structural parameters of a parallel manipulator decides the property of its workspace. The paper handles its dimensional parameters with the dimensionless ones and establishes the functional relationship between the structural parameters of a planar redundant parallel manipulator and non-redundant parallel manipulator and the configuration of their workspaces. It uses the dimensionless parameters to draw the workspace spectrograms for the two types of parallel manipulator respectively and compares the strength and weakness of the two types of workspace, thus providing a systematic basis of reference for the design of the two types of manipulator.