摘要
提出了七重四面体变几何桁架机器人的工作空间分析的解析方法。该方法以曲面分析为基础 ,引入了数字 -符号处理技术 ,可据位置正解的递推公式 ,由计算机自动推导出工作空间边界曲面的解析曲面方程。由此描绘出了机器人工作空间边界曲面的投影视图及截面曲线图。分析结果表明 :七重四面体变几何桁架机器人的工作空间是由 4 2张曲面片包围而成的闭包 .
An analytical method for workspace analysis of seven-celled tetrahedron variable geometry truss manipulators (VGTM) is proposed. The numeric-symbolic manipulate technique is introduced. The method is based on surface analysis which can be used to derive the analytical equations of workspace boundary surfaces automatically on the computer based on the recursive formulate of forward displacement analysis. Thus the projection and section curve graphs of workspace boundary surfaces are drawn. Results of analysis show that the workspace of seven-celled tetrahedron VGTM is enveloped by 42 surface patches.
出处
《四川大学学报（工程科学版）》
EI
CAS
CSCD
2001年第6期6-9,共4页
Journal of Sichuan University (Engineering Science Edition)
基金
国家自然科学基金资助项目 (5 9785 0 0 1)
