摘要
研究了Delta机器人结构参数与其期望工作空间之间的关系。工作空间是机器人性能的重要指标之一。但并联机器人工作空间边界是不规则的凸起,当在边界附近运动时,机器人容易陷入奇异位姿。因此,用规则的期望工作空间取代实际工作空间是一个很好的选择。机器人工作空间的大小直接有机器人的结构参数决定,因此研究机器人结构参数与工作空间之间的关系非常有意义。在归一化空间中绘制了Delta机器人结构参数与内接期望工作空间体积之间的映射关系图,并讨论了它们之间的关系。结果对Delta机器人的机构设计等具有指导意义。
It researches on the relationship between the inscribed desired workspace of Delta robot and its structure parameters. Workspace volume is one of the most important indexes for robot performance. But there are irregular protuberances on its bolmdary, where a robot is always in or near the singular poses. Therefore, replacing the real workspace with regular-shaped desired one is an excellent option. The workspace is decided by the robot structural parameters directly, so it is meaningful to research on the relationship between workspace and parameters. Relationships between the inscribed desired workspace and structure parameter are plotted and discussed in normalized space, which have a guiding significance in mechanism design of Delta robot.
出处
《机械设计与制造》
北大核心
2015年第2期154-156,160,共4页
Machinery Design & Manufacture
基金
国家自然科学基金(61105020)
