摘要
研究平面双杆、三杆及漂浮基座机械手工作空间。得到使工作空间最大的优化条件 ,在三杆机械手的讨论中运用了Lagrange条件极值法。所得结果对机械手设计分析具有一定的指导意义 ,文章附有计算图线。
The equations of reachable area of planar robots,which include 2 arm,3 arm and floating arm robot,are presented.The optimum link ratio leading the maximum working area is studied.For planar 3 arm robot,the optimum formulation is gotten by Lagrange method.The results are helpful for robot designed.Finally,the calculating curves of the method are presented.
出处
《机械》
2003年第3期15-17,共3页
Machinery
