并机联械手的工作空间分析

Workspace Analysis of Platform type Manipulator

工作空间是指机械手手部上的一点所达到的点集,它反映了机械手的工作特性,所以对设计者和使用者都是一个重要的评价指标。 本文提出了并联机械手工作空间的数值分析方法,并根据这种机械手的特点采用“最大满足约束条件”来定义工作空间的边界曲面。最后对如何增大工作空间提出了一些建议。

Workspace allways means the set of coodinate where the manipulator hand can arrive, it reflects the workspace of platform type manipulator therefor it is an important estimeting sandard both to desiger and user. This paper presents the numerical analysis method of the workspace, of platform type manipulator, according to the property of this manipulator, the boundary curved surface is defined by 'maximum satisfied re-d strain condition'. Finally, Some of suggestions on how do expan workspace are inroduced.