正交机器人机构工作空间的数值算法

An Algorithm for Workspace of Orthogonal Manipulators

提出了一种计算n自由度正交机器人机构工作空间的数值方法.先求出机器人机构末端两个关节对应子工作空间的边界曲面,在前一个关节建立参考坐标系,将已知子工作空间的边界曲面分成若干层,求出每一层上的截交线,定义截交线的两个端点、半径坐标值最大点和最小点等为特征点,根据这些特征点可生成前一级子工作空间的边界曲线和边界曲面,由此递推可生成工作空间的边界曲面,并计算出工作空间的体积值.以三自由度正交机器人机构为例进行了仿真分析,结果表明该算法具有运动学计算量小、结果精确等优点.

An algorithm for the workspace of nR orthogonal manipulators was developed. The sub workspace bound-ary surface of the last two joints was generated as initial sub workspace boundary, and the cross sections of the initial sub workspace boundary were created on the preceding joint coordinate. The two end points and the points with the maximum and minimum radius of each cross section curve were defined as feature points, based on which the bound-ary curves and the boundary surfaces of the former sub workspace were determined. And then the workspace was computed by this iterative process, and the volume of the workspace boundary was calculated. A simulation was per-formed on a 3R orthogonal manipulator. Simulation results show that the proposed algorithm has the advantages of small amounts of kinematic calculation and high precision.