| 并联机器人位置空间分析的几何法 |
| |
| 引用本文： | 钱瑞明.并联机器人位置空间分析的几何法[J].东南大学学报(自然科学版),1996,26(1):63-67. |
| |
| 作者姓名： | 钱瑞明 |
| |
| 作者单位： | 东南大学机械工程系 |
| |
| 摘 要： | 结合６－ＳＰＳ并联机器人的结构特点，在考虑主动副运动范围和从动副结构约束情况下，提出了上平台位置空间分析的一种几何方法。该法可直接获得三维位置空间的边界曲面方程从而可方便地绘出位置空间各截面形状。
|
| 关 键 词： | 并联机器人 位置空间 几何分析法 机器人 |
Geometric Method for Determining the Positioning Workspace of Parallel Manipulators |
| |
| Qian Ruiming.Geometric Method for Determining the Positioning Workspace of Parallel Manipulators[J].Journal of Southeast University(Natural Science Edition),1996,26(1):63-67. |
| |
| Authors: | Qian Ruiming |
| |
| Abstract: | A geometric method for determining the positioning workspace of parallel manipulators is presented. The method described here, based on structure properties of the 6-SPS parallel manipulators with joint limits, leads to a simple graphical representation of the boundary regions and sections of the 3-dimensional Cartesian space, and that is attainable by the manipulator with a given orientation of the platform |
| |
| Keywords: | parallel manipulator workspace geometric method |
| 本文献已被 CNKI 维普 等数据库收录！ |
