摘要
本文结合一种常用工业机器人的结构形式,对决定其工作灵活性的工作角范围问题进行了研究,得出了工作角范围的简便求解方法。这种方法的特点是将复杂的空间机构问题转化为平面机构问题来求解,从而可方便地求出机器人在任意工作点处的工作角变化范围。
In this paper, the problem of a manipulator's workangle, which determines the dexterity of a manipulator, is tackled and expounded. A method is presented for analysing the range of workangle of a manipulator with prismatic pair. By changing the complicated spacial problem into a planar one, the problem of the range of manipulator's workangle can be solved promptly and ingeniously.
