基于解析法的2冗余自由度8轴摄影机器人工作空间研究  

Research on 8-Axis and 2 Redundant Degree of Freedom Photographic Robot Based on Analytic

作　　者：刘新科 苗新刚[1] 汪苏[1] 

机构地区：[1]北京建筑大学机器人仿生与功能研究北京市重点实验室,北京100044

出　　处：《机械设计与研究》2017年第6期31-34,共4页Machine Design And Research

基　　金：机器人仿生与功能研究北京市重点实验室资助课题(BZ0337)

摘　　要：对设计的2冗余自由度串联PRRPR-S型8轴摄影机器人用解析法研究其工作空间。首先通过固定底层直线运动轴和腰轴的方法,分析去冗余自由度机器人腕关节可达空间的上下侧和内外侧边界;然后不固定底层直线运动轴和腰轴,综合分析机器人工作空间;利用机器人无误差运动学模型,工作空间关键点计算用世界坐标系向工作空间世界坐标系转换,得到实际工作空间关键点坐标;利用多个简单空间覆盖复杂空间的方法来解决隶属度判定问题,并用蒙特卡洛法验证实现多目标点的工作空间隶属度判定仿真。The design of 2 redundant degrees of freedom in series PRRPR-S 8- axis photographic robot with analytic method to study its workspace. Firstly, the upper and lower sides and the inner and outer sides of the reachable space of the wrist joint are analyzed by the method of fixing the linear motion axis and the lumbar axis. Then, the linear motion axis and the waist axis are not fixed, and the working space of the robot is analyzed synthetically. By using the kinematic model of the robot without error, the workspace key point calculation is transformed with the world coordinate system to the world coordinate system of the workspace, and the coordinates of the actual workspace key point are obtained. The method of covering the complex space with multiple simple spaces is used to solve the membership problem, And the Monte Carlo method is used to verify the membership degree simulation of the workspace.

关 键 词：摄影机器人 工作空间 解析法 蒙特卡洛法 

分 类 号：TP242.3[自动化与计算机技术—检测技术与自动化装置]