摘要
以实际研制的微动并联机器人为研究对象,对其工作空间进行了分析。首先给出了微动并联机器人的机构组成及工作原理,依据本身结构特点,分析了影响工作空间的约束条件。为了得到机器人带有倾斜调整能力的工作空间,采用合适的欧拉角表达运动平台的姿态,给出了运动学逆解的求解方法,并在此基础上利用数值法通过空间扫描边界点的方式获得了机器人定姿态工作空间和灵活姿态角为700μrad工作空间。该分析方法对微动并联机器人设计及性能评价具有重要意义。
The workspace of the actuated micro parallel robot is analyzed. Firstly, the composition and working principle of the micro parallel robot is introduced, the constraint condition of workspace is analyzed base on the configuration characteristics of miro parallel robot. The appropriate Euler angle is used to express the posture of the move-platform in order to get the workspace with tilt adjustment ability; the inverse kinematics solution was given; and based on this solution, the workspace with fixed posture and with given orientation 700 is derived by spatial scanning boundary points which belong numerical method. The above analysis has great significance to design of configuration and evaluation of the micro parallel robots.
出处
《长春理工大学学报（自然科学版）》
2015年第4期1-5,共5页
Journal of Changchun University of Science and Technology(Natural Science Edition)
基金
国家科技重大专项基金资助项目(2008ZX02501)
关键词
并联机器人
工作空间
数值法
逆解
parallel robot
workspace
numerical method
inverse kinematics
