摘要
工作空间是评价并联机器人工作性能的重要指标。以一种由Stewart平台演绎而来的正交6-PTS并联机器人为研究对象,介绍了其机构特点。基于运动学逆解,分析了各分支间的干涉约束、运动副的转角约束和杆长约束,运用搜索法得到其不同高度截面的工作空间图以及三维定姿态工作空间图。工作空间的研究为此类并联机器人的应用与设计提供了直接依据。
The workspace of parallel robot is an important index to evaluate its working performance.A novel type 6-PTS parallel robot that is derived from the 6-PTS Steward platform is chosen as the study object,this paper introduces its mechanical characteristic firstly,then analyzes the chief factors influencing the workspace of the parallel mechanisms,such as the parallel link length,motion pair rotation angle and parallel links interference based on the inverse kinematics.The section of workspace is determined by the search method,and its three-dimensional workspace under the certain orientation is defined.The direct basis is provided for the application and design of this type of the parallel robot by the study of workspace.
出处
《机械制造与自动化》
2011年第1期138-140,175,共4页
Machine Building & Automation
关键词
6-PTS并联机器人
正交位姿
工作空间
6-PTS parallel robot
orthogonal position and orientation
workspace
