3-RRR平面并联机器人全姿态工作空间及其特性研究  

Research of Full-posture Workspace and Its Characteristic of 3-RRR Planar Parallel Robot

作　　者：崔建昆[1] 俞佳俊 曹丽亚[1] Cui Jiankun;Yu Jiajun;Cao Liya(College of Mechanical Engineering,University of Shanghai for Science and Technology,Shanghai 200093,China)

机构地区：[1]上海理工大学机械工程学院,上海200093

出　　处：《机械传动》2018年第9期145-148,共4页Journal of Mechanical Transmission

摘　　要：提出一种平面并联机器人工作空间新的表达方法。以3RRR平面并联机器人为例,采用迭代搜索法,以运动方程逆解为判别式,进行工作空间的圆周式搜索,得到了全姿态工作空间的三维展示,并对其特性进行研究。在此基础上,得到可达工作空间以及工作空间不存在空洞的杆长配比。A new representation method of the workspace of a planar parallel manipulator is presented.Taking the 3RRR plane parallel robot as an example,according to the iterative search method,the inverse solution equation is used as the discriminant,and the circular search of workspace is carried out.After the data processing,the three-dimensional display of the full-posture workspace of planar parallel manipulator is obtained,and its characteristics are studied.On this basis,the reachable workspace is obtained and the working space does not exist empty pole length ratio.

关 键 词：并联机器人 全姿态工作空间 搜索算法 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]