平面三自由度机器人的有限灵活工作空间研究

提出了对平面三自由度机器人工作空间的有限灵活度的分析方法 ,提出了采用灵活角来度量操作器灵活程度 ,将机器人的工作空间根据灵活程度的不同划分为相应的有限灵活工作空间 ,研究表明 ,对机器人操作器的灵活度的要求不同 ,机器人就有不同的工作空间 .这对设计和使用机器人不仅具有实际意义 .同时也为提高操作器的灵活程度提供了理论基础

Study on the Limited Dexterity Work Spaceof a Planar 3-DOF Robot

The orientation of a robot manipulator is restricted in the large proportion of its reachable work space. In this part of the work apace, the robot may not carry out the specified task due to its restricted orientation despite that any positions in this part of the work space are reachable. Therefore, it is significant to carry out the research of the limited dexterity of the robot in this part of the work space. This paper presents a method to analyze the limited dexterity of the robot, and proposes a measurement for the limited dexterity of the robot in its work space. The study shows that the robot has a different work apace when it has different dexterity requirement. This is significant for design and practical use of a robot.