机器人奇异曲面及工作空间界限面分析的数字-符号法

A Numeric-Symbolic Approach for Analysis of Singular Position Surfaces and Workspace Boundary Surfaces of Robotic Manipulators

提出了一种求解运动副转角或移动有限制的机器人的工作空间界限曲面的方法 ,该方法将工作空间分析的问题转化为特定条件下的奇异位形分析问题 ,引入了数字 -符号处理技术 ,可根据位置分析的递推公式 ,由计算机自动推导出工作空间边界曲面及位置奇异曲面的曲面方程。由此描绘出了机器人工作空间边界曲面及位置奇异曲面的截面曲线图。

A method for determining the boundary surfaces of workspace of manipulators with limited revolute and prismatic joints is proposed in this paper. By this method, problem for determining workspace is transformed into problems of singular position analysis under specified conditions. The equations of workspace boundary surfaces and singular position surfaces can be generated automatically on the computer based on numeric symbolic manipulating technique and recursive formulae of position analysis, and thus section curve graph for workspace boundary surfaces and singular position surfaces of manipulators is drawn.