3-RRRT并联机器人工作空间与灵巧度的分析  

Analysis on working space and dexterousness of 3-RRRT parallel robots

作　　者：杨玉维[1] 赵新华[1] 

机构地区：[1]天津理工大学机械工程学院,天津300191

出　　处：《机械设计》2005年第2期11-13,共3页Journal of Machine Design

基　　金：天津市高等学校科技发明项目(020516);天津市应用基础研究计划重点项目(033803111)

摘　　要：旨在研究和分析3-RRRT并联机器人的工作空间和灵巧度。运用了齐次坐标系法对3-RRRT并联机器人机构进行了分析,给出属于工作空间点的判别条件,并进行了数值仿真;给出了 3-RRRT并联机器人灵巧度的计算公式,并进行了数值仿真。The purpose of this paper is to study and analyze the working space and dexterousness of 3-RRRT robots. An analysis has been carried out on the mechanism of 3-RRRT parallel robots by utilizing the method of homogeneous coordinates system. The discrimination condition of points belonging to the working space was given out, and the numerical simulation was carried out. The calculation formulae for the dexterousness of 3-RRRT parallel robots were given out, and the numerical simulation was carried out.

关 键 词：三自由度 并联机器人 工作空间 灵巧度 

分 类 号：TH12[机械工程—机械设计及理论]