基于Delaunay三角划分网格计算多连杆机器人工作空间

Workspace of Multi-linkages Robots Calculated on the Basis ofDelaunay Triangulation Grids

为了更准确地描述多连杆机器人的工作空间,提出一种基于Delaunay三角划分网格的多连杆机器人工作空间计算方法;给出多连杆机器人的基本结构并进行化简,得到多连杆机器人的运动学方程,构建工作空间的密度函数,绘制出末端轨迹点云图,分别采用所提出的方法、数值积分法和网格划分法计算工作空间的面积。结果表明,采用数值积分法和网格划分法计算的工作空间面积误差率分别为2.76%、2.27%,而采用所提出的方法计算的误差率为1.77%,该方法的计算性能明显优于其他2种方法的计算性能。

To describe workspace for multi-linkages robots more accurately,a calculation method for workspace of multi-linkages robots based on Delaunay triangulation grids was proposed.Basic structure of multi-linkages robots was given and simplified,and kinematics equations of multi-linkages robots were obtained.A density function of the workspace was constructed,and point cloud of terminal trajectory was drawn.The proposed method,numerical integration method,and grid partition method were respectively used to calculate the area of workspace.The results show that the error rates of workspace area calculated by using numerical integration metho d and grid partition method are respectively 2.76%and 2.27%,and that calculated by using the proposed method is 1.77%.The performance of the proposed method is obviously better than those of the other two methods.