摘要
本文在考虑构件形状和尺寸的条件下,提出了当双臂机械手在三维空间实现各自预定轨迹时判别干涉区的方法.以构件的简化模型建立起确定干涉区的模型和准则.本文所提出的方法适用于具有转动副和移动副的一般双臂机械手的干涉区分析.最后给出了一个数字例.
An analytical method to evaluate time zones of interference for a dual-arm robot is presented with the con-sideration of shape and volume of links in the case,when the robot arms move along two given continuoustrajectories in three dimensional space respectively.A simplified model of links is given.The formulationsand criteria to determine interference zones are derived.The method is applicable to general dual-arm robotswith not only revolute joints,but also prismatic joints.A numerical example is presented for illustration.
出处
《机器人》
EI
CSCD
北大核心
1993年第3期13-17,共5页
Robot
基金
国家自然科学基金
关键词
双臂机械手
干涉分析
轨迹规划
dual-arm robots
interference analysis
path planning
