摘要
本文提出了用机器人操作器末杆的自转角灵活度及两个互相垂直的主截面内的灵活度的组合,来表示机器人对给定工作点的灵活性的方法。这种方法直观、方便,易于求解和应用.用它研究具有结构条件限制的机器人操作器工作空间灵活度时,发现在工作空间里,存在有不同灵活度的区域,曲线或曲面.本文还特别提出了工具(夹具)的预置位姿的概念,并以 5R 操作器为例,充分证明了预置位姿的改变.可以在操作器灵活度不变的条件下大大改善机器人的工作可能性。
This paper presents a method of expressing robot's dexterity at a given point by combining dexterity ofcnd-effector rotation with dexterity of main sections which are perpendicular to each other.It's intuitive,convenient and easy to solve and apply.When using this method to study dexterity of work space of robotwith structural restraint,we found there are different dexterity regions,surfaces and curves.Especially,thispaper presents a concept called pro-set pose of a tool Also we prove that when pre-set pose is changed,thework possibi lity can be greatly improved and that condition of manipulator's dexterity is not changed by a5R manipulator.This conclusion is useful for practical application of a robot.
出处
《机器人》
EI
CSCD
北大核心
1989年第6期12-16,共5页
Robot
