关于6-SPS并联机器人机构工作空间的研究  

Workspace Analysis of the Parallel Manipulator 6-SPS

作　　者：李瑞琴[1] 刘惠林[1] 

机构地区：[1]北京理工大学机械工程系

出　　处：《北京理工大学学报》1992年第4期100-108,共9页Transactions of Beijing Institute of Technology

基　　金：国家自然科学基金

摘　　要：提出用数值分析与优化相结合的方法对6-SPS并联机器人机构的工作空间进行研究.根据该机构的特点和应用需要,把上平台中心可达范围分别定义为定姿态可达空间和工作空间两类.对于给定结构参数的6-SPS机构,在确定工作空间的最高点和最低点后,即可快速计算出其工作空间的边界.考察了结构参数对工作空间的影响,得出一些规律性变化关系.这些结果可以用来确定6-SPS并联机器人机构的实际结构参数。An approach combining numerical analysis with optimization for the workspace analysis of the parallel manipulator 6 - SPS is proposed. According to the features of the parallel manipulator and the practical requirements, the totality of points that can be reached by the centre of the upper platform are classified as lying either within the reachable space with a given attitude of the upper platform, or within the workspace. By means of a procedure starting from the highest or the lowest point, these working envelopes with known structural parameters can be calculated readily. The relations between the working envelope and the structural parameters are discussed. Some regular variations have been found. These results obtained can serve as a means of sizing the practical parameters.

关 键 词：机器人 并联机器人 工作空间 

分 类 号：TP242.2[自动化与计算机技术—检测技术与自动化装置]