| 一种实用机器人全方位工作空间的解析分析法 |
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| 引用本文： | 朱建敏,许有恒.一种实用机器人全方位工作空间的解析分析法[J].上海理工大学学报(社会科学版),1988(4). |
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| 作者姓名： | 朱建敏 许有恒 |
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| 作者单位： | 上海机械学院
(朱建敏)，上海交通大学(许有恒) |
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| 摘 要： | 文本对机器人的全方位工作空间进行了研究,首次提出了关节运动有限制的实用机器人全方位工作空间分析的解析方法。文中还提出了一系列判定全方位工作空间是否存在的判据,最后给出了计算实例。由于本文提出的解析方法是通过直接求出边界面来确定全方位工作空间的,因而具有计算精确而迅速的优点。
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| 关 键 词： | 机械手 死区间 全方位工作点 全方位工作空间 机器人 |
A Method for Analysing the Dextrous Workspace of Practical Manipulator |
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| Zhu Jianmin Xu Youheng.A Method for Analysing the Dextrous Workspace of Practical Manipulator[J].Journal of University of Shanghai For Science and Technilogy(Social Science),1988(4). |
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| Authors: | Zhu Jianmin Xu Youheng |
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| Institution: | Zhu Jianmin Xu Youheng |
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| Abstract: | The present paper deals with the dextrous workspace of a manipulator. A method is presented, for the first time, for analysing the dextrous workspace of practical manipulator with limited motion joints. A series of criteria are put forward, with which whether the dextrous workspace of a manipulator is existent can be deduced. At the end of the paper, an example of analysing the dextrous workspace is offered. As the analytical approach makes it possible to obtain the boundary surfaces of a dextrous workspace, it has the advantages of quickness and preciseness in calculation. |
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| Keywords: | Manipulator Unreachable region Dextrous workpoint Dextrous workspace Robots |
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