摘要
主要研究6—SPS并联机器人的工作空间。认为,对于结构参数给定的6—SPS机构,在算法上采取数学分析法,可迅速准确地计算出在考虑了杆的干涉等结构约束条件下定姿态可达空间和工作空间的边界曲线。同时,还考察了结构参数对工作空间的影响,得出一些规律性变化关系。
The workspace of parallel manipulator 6-SPS is studied in this paper. By means of the algorithm of mathematical analysis,the working envelopes and the reachable spaces with known structural parameters can be calculated accurately and rapidly. The influence of the structural parameters on the working envelopes is explored. Some regular variations of significance are found. These results are significant for the designing and usage of the parallel manipulator.
出处
《福建工程学院学报》
CAS
2004年第2期192-195,共4页
Journal of Fujian University of Technology
关键词
并联机器人
可达空间
工作空间
parallel manipulator
reachable workspace
workspace
