摘要
工作空间是评价机器人工作性能的一项重要指标,以I4R并联机器人为研究对象,首先介绍了其机构特点,然后基于运动学逆解,运用MATLAB软件编制程序,绘制了其在定姿态下的工作空间,并分析了杆长变化对工作空间的影响,确定了最佳工作平面。所得结果为此类并联机器人的设计与应用提供了直接依据。
The workspace of the robot is an important index to evaluate its working performance.This paper considers the I4R parallel robot as the research object.Firstly it introduces the characteristics of the mechanism and then based on the inverse kinematics solution,draws its workspace under the fixed posture by using the MATLAB software.At the same time,it also analyzes the influence of the rod length change on the work space and determines the optimal working plane.The obtained result provides the direct basis for the design and application of this type of the parallel robot.
出处
《机械制造与自动化》
2012年第4期156-157,168,共3页
Machine Building & Automation
