| 一种含移动副机器人的工作灵活性分析方法 |
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| 引用本文： | 朱建敏,许有恒.一种含移动副机器人的工作灵活性分析方法[J].上海理工大学学报,1991(1). |
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| 作者姓名： | 朱建敏 许有恒 |
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| 作者单位： | 上海机械学院
(朱建敏)，上海交通大学(许有恒) |
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| 摘 要： | 本文结合一种常用工业机器人的结构形式,对决定其工作灵活性的工作角范围问题进行了研究,得出了工作角范围的简便求解方法。这种方法的特点是将复杂的空间机构问题转化为平面机构问题来求解,从而可方便地求出机器人在任意工作点处的工作角变化范围。
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| 关 键 词： | 机械手 工作球 工作角 灵活性 |
A METHOD FOR ANALYSING THE DEXTERITY OF A MANIPULATOR WITH PRISMATIC PAIR |
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| Zhu Jianmin Xu Youheng.A METHOD FOR ANALYSING THE DEXTERITY OF A MANIPULATOR WITH PRISMATIC PAIR[J].Journal of University of Shanghai For Science and Technology,1991(1). |
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| Authors: | Zhu Jianmin Xu Youheng |
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| Institution: | Zhu Jianmin Xu Youheng |
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| Abstract: | In this paper, the problem of a manipulator's workangle, which determines the dexterity of a manipulator, is tackled and expounded. A method is presented for analysing the range of workangle of a manipulator with prismatic pair. By changing the complicated spacial problem into a planar one, the problem of the range of manipulator's workangle can be solved promptly and ingeniously. |
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| Keywords: | Manipulators Worksphere Workangle Dexterity |
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