6自由度并联机器人的结构参数对活动空间的影响

The Influence of Structural Parameters upon Six Degrees of Freedom Parallel Robot's Workspace

研究了６自由度并联机器人的活动空间问题。由于活动空间的边界曲线为刀具刀尖所能达到的最远点，所以根据从六条腿中一条腿达到最大长度时计算机构的位置反解，可求得其边界点。并通过实例，求得了不同截面下的活动空间的轮廓曲线。同时通过改变结构参数，进而求得这些参数对活动空间的影响，并绘制了相应的曲线。

In this paper, the problem of six degrees of freedom parallel robot's workspace is studied.Because the workspace's boundary curve is the farthest point the nose of tool can reach, the boundary point can be obtained by computing mechanism's position inverse solution basing on the idea that one of the six legs reaches the largest length. According to the example, the outline curve of workspace of different section can be obtained.The curve of influence of structural parameters upon six degrees of freedom parallel robot's workspace is also gained.