摘要
本文建立了一个机器人运动学计算机辅助设计与仿真系统，与同类型的其它系统比较，本文侧重于运动学设计与评价，它包括工作空间、姿态空间、奇异曲面、服务区域、灵活度、运动学综合与仿真等，提出了建立机器人数据库、奇异曲面计算机自动求解以及机器人运动学性能综合评价的新方法，然后介绍了系统中的一些主要模块。
A computer aided robotics kinematics design and simulation system is presented Compared with the existing systems, it puts emphasis on the kinematics design and assessment of robots It involves the topics of workspace, posture workspace, singular surface, service region, dexterity kinematic synthesis and simulation, etc Some new methods are provided to develop robotics library, solve singular surface automatically, and perform the global assessment of robotics kinematic properties, etc, Also, introduced are modules such as demonstrating workspace, singular surface, service region, dexterity and kinematics simulation
出处
《工程图学学报》
CSCD
1997年第2期131-137,共7页
Journal of Engineering Graphics
