摘要
本文研究基于 Auto CAD平台的六自由度并联机器人在姿态给定情况下工作空间 (即位置工作空间 )的几何确定方法 ,该方法以机器人的运动学反解为基础 ,得出 Stewart并联机器人和 6-RTS并联机器人位置工作空间的边界方程 ,从而得出 Stewart并联机器人的位置工作空间是 6个球体的交集 ,6- RTS并联机器人在姿态给定时其工作空间是 6个相同的规则曲面体的交集 .基于 Auto-CAD平台 ,其交集以及交集的容积可以很容易的得出 ,该方法是确定六自由度并联机器人工作空间的一种简单。
The issue of geometrical determination of the workspace for 6 DOF parallel manipulators is concerned. The methods described here are used to obtain the graphical representation of the regions of the three dimensional Cartesian space that are attainable by the manipulators with a given orientation of the platform. The workspaces of a Stewart parallel manipulator and a 6 RTS parallel manipulator are studied by using the methods. The results show that the positioning workspace of a Stewart parallel manipulator is the intersection of six same hollow spheres, the positioning workspace of a 6 RTS parallel manipulator is the intersection of six same regular tori. Using the geometrical methods, the workspaces and the sections of the manipulators and the volumes of workspaces can be obtained easily in the desk of AutoCAD. An example is included to illustrate the application of the method.
出处
《机器人》
EI
CSCD
北大核心
2000年第6期457-464,469,共9页
Robot
关键词
并联机器人
工作空间
几何法
AUTOCAD
parallel manipulators, inverse kinematics problem, workspace, geometrical method, CAD
