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DELTA并联机器人工作空间求解

Workspace Solving of DELTA Parallel Manipulator
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摘要 DELTA机器人工作空间形状特殊且复杂而难以直观的方式表示,不利于机器人的轨迹规划和控制等,因此提出一种方法,可以将DELTA机器人工作空间直观地表示。首先采用几何法对DELTA并联机器人进行运动学正解求解,然后在MATLAB里进行仿真分析,并将工作空间以空间三维图形的形式直观地表示出来。所提出的方法不仅能解决DELTA机器人工作空间难以直观的方式表示这一难题,而且能为机器人的轨迹规划和控制等提供一定参考。 The DELTA space robot work with special shape and complex to intuitive way, not conducive to the robot trajectory planning and control, this paper proposed a method of DELTA can be a visual representation of the robot working space. Firstly, the geometry method of DELTA parallel robot kinematics is solved, then the simulation analysis in MATLAB, and the work space to space 3 D graphics express. The proposed method can not only solve the DELTA hard working space of robot visual representation of the problem, but also can provide for robot trajectory planning and control Fixed reference.
作者 陈统书
机构地区 汕头大学工学院
出处 《机械管理开发》 2017年第11期4-6,共3页 Mechanical Management and Development
基金 2016年"攀登计划"广东大学生科技创新培育专项资金项目(pdjh2016b0185)
关键词 DELTA机器人 几何法 运动学正解 工作空间 DEI.TA robot geometric method kinematics working spaee
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