3-RPC机构的安全工作空间设计

Safety Work Space Design of 3-RPC Mechanism

影响并联机器人安全工作空间的因素很多,如:奇异位型、机构结构尺度、静态受力等。以3-RPC并联机器人为研究对象,基于机构位置分析,以雅克比条件数为基准,采用数值迭代法得到机构杆长极限尺度。通过运动仿真验证机构在极限杆长空间内杆件的干涉性和静态受力,从而保证机构工作空间的安全性。最后,采用极坐标搜索法计算了机构的安全工作空间。

Many factors influence parallel robot work space,such as: singular type,structure scale,static force etc. Taking the3-RPC parallel robot as the research object,based on the position analysis,with Jacobin condition number as the reference,get mechanism limit scale by using the iterative method. Through the movement simulation verification mechanism in the limit of rod long space bar interference and static force,so as to ensure the safety of the workspace. Finally,using the polar coordinate searching method to calculate safety workspace.