| 正交机器人机构工作空间的数值算法 |
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| 引用本文： | 张建业,赵臣,张宏杰,张大卫.正交机器人机构工作空间的数值算法[J].天津大学学报(自然科学与工程技术版),2013(10):862-866. |
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| 作者姓名： | 张建业 赵臣 张宏杰 张大卫 |
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| 作者单位： | [1]天津大学机械工程学院,天津300072 [2]天津工业大学机械工程学院,天津300387 |
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| 基金项目： | 国家高技术研究发展计划（863计划）资助项目（2007AA042205）. |
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| 摘 要： | 提出了一种计算 n 自由度正交机器人机构工作空间的数值方法。先求出机器人机构末端两个关节对应子工作空间的边界曲面，在前一个关节建立参考坐标系，将已知子工作空间的边界曲面分成若干层，求出每一层上的截交线，定义截交线的两个端点、半径坐标值最大点和最小点等为特征点，根据这些特征点可生成前一级子工作空间的边界曲线和边界曲面，由此递推可生成工作空间的边界曲面，并计算出工作空间的体积值。以三自由度正交机器人机构为例进行了仿真分析，结果表明该算法具有运动学计算量小、结果精确等优点。
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| 关 键 词： | 正交机器人机构 工作空间 子工作空间 特征点 |
An Algorithm for Workspace of Orthogonal Manipulators |
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| Zhang Jianye,Zhao Chen,Zhang Hongjie,Zhang Dawei.An Algorithm for Workspace of Orthogonal Manipulators[J].Journal of Tianjin University(Science and Technology),2013(10):862-866. |
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| Authors: | Zhang Jianye Zhao Chen Zhang Hongjie Zhang Dawei |
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| Institution: | 1. School of Mechanical Engineering, Tianjin University, Tianjin 300072, China; 2. School of Mechanical Engineering, Tianjin Polytechnic University, Tianjin 300387, China) |
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| Abstract: | An algorithm for the workspace of nR orthogonal manipulators was developed. The sub workspace bound-ary surface of the last two joints was generated as initial sub workspace boundary, and the cross sections of the initial sub workspace boundary were created on the preceding joint coordinate. The two end points and the points with the maximum and minimum radius of each cross section curve were defined as feature points, based on which the bound-ary curves and the boundary surfaces of the former sub workspace were determined. And then the workspace was computed by this iterative process, and the volume of the workspace boundary was calculated. A simulation was per-formed on a 3R orthogonal manipulator. Simulation results show that the proposed algorithm has the advantages of small amounts of kinematic calculation and high precision. |
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| Keywords: | orthogonal manipulators workspace sub workspace feature point |
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