Based on the concepts of Voronoi diagram that describes geometry information of the robot assembly in C space, the position vector path parameter equation of the assembly movement between the step shaft and two-sided ...Based on the concepts of Voronoi diagram that describes geometry information of the robot assembly in C space, the position vector path parameter equation of the assembly movement between the step shaft and two-sided bearing bracket was given. And the path planning strategy of the component initiative assembly was put forward as well. Theoretical analysis proves that using the Voronoi diagram to do the geometry reasoning on the assembly space can evaluate the feasibility of the component assembly, and can present the reference position vector path of the component movement from the initial configuration to the objective configuration, therefore improves the flexibility of the robot initiative assembly.展开更多
基金Sponsored by the National Natural Science Foundation of China(Grant No60675040)
文摘Based on the concepts of Voronoi diagram that describes geometry information of the robot assembly in C space, the position vector path parameter equation of the assembly movement between the step shaft and two-sided bearing bracket was given. And the path planning strategy of the component initiative assembly was put forward as well. Theoretical analysis proves that using the Voronoi diagram to do the geometry reasoning on the assembly space can evaluate the feasibility of the component assembly, and can present the reference position vector path of the component movement from the initial configuration to the objective configuration, therefore improves the flexibility of the robot initiative assembly.
