共查询到19条相似文献,搜索用时 109 毫秒
1.
2.
3.
基于AutoCAD平台的六自由度并联机器人 总被引:14,自引:0,他引:14
本文研究基于AutoCAD平台的六自由度并联机器人在姿态给定情况下工作空间(即位置工作空
间)的几何确定方法,该方法以机器人的运动学反解为基础,得出Stewart并联机器人和6-R
TS并联机器人位置工作空间的边界方程,从而得出Stewart并联机器人的位置工作空
间是6个球体的交集,6-RTS并联机器人在姿态给定时其工作空间是6个相同的规则曲面体
的交集.基于AutoCAD平台,其交集以及交集的容积可以很容易的得出,该方法是确定六自
由度并联机器人工作空间的一种简单、有效方法. 相似文献
4.
柔索驱动三自由度球面并联机构运动学与静力学研究 总被引:7,自引:0,他引:7
柔索驱动并联机器人采用柔索代替连杆作为机器人的驱动元件,它结合了并联结构和
柔索驱动的优点.文章提出了一种新型带有约束机构的并联柔索驱动机器人,采用四根柔索
驱动.由于约束机构的引入,机器人可实现在空间的三维转动.介绍柔索驱动并联机器
人的机构构型,给出了位姿逆解,建立了静力平衡方程和运动学方程,讨论了柔索拉力的确
定方法.研究结果证明在加入了约束机构后,柔索机器人可以实现更多的运动形式,这就为
更广泛的应用柔索驱动成为可能. 相似文献
5.
并联机器人运动学正解问题是一个重要而且难以解决
的问题.本文利用符号计算工具,应用Dialytic消元法,对一类6-SPS并联机器人的运动学
正
解问题进行研究.得到一个变元多项式方程,给出了正解的解析解. 在此基础上确定其工作
空间,求出其解范围内全部实解.此种方法对于一般6-SPS同样适用. 相似文献
6.
7.
8.
9.
10.
张兆印 《计算机工程与设计》2009,30(5)
6-DOF并联机器人的工作空间是控制过程研究的主要问题之一,所谓活动空间的边界分析,即指各液压缸活动过程中相互不能发生碰撞,如果碰撞发生,则该点即为边界点.对6-DOF并联机器人的机构和工作原理进行了介绍,给出了对于工作空间边界分析必要的位置算法,根据机构的特点与机器人的运动特性对6-DOF并联机器人的工作空间边界进行了细致的分析并给出了可操作的运动边界判定算法.实现了对液压缸碰撞的判定. 相似文献
11.
12.
To obtain natural space experience of haptic interaction for users in virtual cockpit systems (VCS), a haptic feedback system and a workspace analysis framework for haptic feedback manipulator (HFM) are presented in this paper. Firstly, improving the classical three-dimensional workspace obtained by the Monte Carlo method, a novel workspace representation method, oriented workspace, is presented, which can indicate both the position and the orientation of the end-effector. Then, aimed at the characters of HFMs, the oriented workspace is divided into the effective workspace and the prohibited area by extracting the control panel area. At last, the effective workspace volume and the control panel area are calculated by the double-directed extremum method, with the accuracy improved by repeatedly adding and extracting boundary points. By simulation, the area in which interactions between the manipulator and users hand performed is determined and accordingly the effective workspace along with its boundary and volume are obtained in a relative high precision, which lay a basis for haptic interaction in VCS. 相似文献
13.
针对传统方法求解并计算并联机器人工作空间体积计算量大效率低的问题,采用Delaunay三角剖分法求取工作空间的体积。利用Matlab编程进行仿真,将Delaunay三角刮分法与子空间体积叠加法和微分法对比。结果表明,在相同的计算机配置下,采用改进的增量式Delaunay三角剖分的算法计算其体积值为6. 2645×10~5 mm^3,并耗时21 min;采用二值法计算其体积为6. 2639×10~5 mm^3,耗时27 min;采用微元法计算其体积值为6. 2643×10~5mm^3,并耗时31 min。改进的增量式Delaunay三角剖分法提高了求取工作空间的体积的效率。 相似文献
14.
Robotic manipulators with three revolute families of positional configurations are very common in the industrial robots. The capability of a robot largely depends on the workspace of the manipulator apart from other parameters. In this work, an evolutionary optimization algorithm based on foraging behavior of Escherichia coli bacteria present in human intestine is utilized to optimize the workspace volume of a 3R manipulator. The proposed optimization method is subjected to some modifications for faster convergence than the original algorithm. Further, the method is also very useful in optimization problems in a highly constrained environment such as the robot workspace optimization. The test results are compared with standard results available using other optimization algorithms such as Differential Evolution, Genetic Algorithm and Particle Swarm Optimization. In addition, this work extends the application of the proposed algorithm to two different industrial robots. An important implication of this paper is that the present algorithm is found to be superior to other methods in terms of computational efficiency. 相似文献
15.
Vo-Gia Loc Ig Mo Koo Duc Trong Tran Sangdoek Park Hyungpil Moon Hyouk Ryeol Choi 《Journal of Intelligent and Robotic Systems》2012,67(3-4):271-284
This paper discusses on determination of the workspace of the body of a quadruped walking robot, called “body workspace”, and its applicability in legged locomotion. The body workspace represents the set of all valid body configurations for a next step by considering three constraints of a body position: existence of the inverse kinematic solutions, reach-ability of the next swing leg to the next desired foothold, and static equilibrium of the robot when the next swing leg is lifted. The space contains all the body positions that ensure the existence of inverse kinematic solutions, is calculated in the first. Then, a subspace inside the determined space that allows the robot to reach the next desired foothold is analyzed. Finally, the workspace is obtained by excluding all the positions inside the subspace that do not ensure the equilibrium of the robot when the next swing leg is lifted. Therefore, the workspace shows all possible solutions for choosing the next body configuration of a given static walking problem. It is significant in improving the robot’s performances since moving body takes an intrinsic role in static walking, besides swinging a leg. The algorithm runs fast in real-time because it is a pure geometric method. The body workspace of a quadruped walking robot is visualized to help the understanding of the algorithm. In addition, applications of using the body workspace in improving the robot’s ability are presented to show potential applicability of the workspace. 相似文献
16.
17.
18.
三自由度手指机构分析及其优化设计 总被引:3,自引:0,他引:3
本文引进工作空间和可达空间来描述多关节柔性手指机构的工作范围.采用空间解析几何法,推导出空间3R手指机构工作空间的体积和奇异面的面积,提出手指机构工作姿态最佳的评价方法并推出其与工作空间体积最大的等价关系。分析手指机构各向同性点存在条件并作为优化设计的约束函数、以A3型手指机构的工作空间容积比最大、位置奇异而密度比最小和工作姿态最佳作为优化目标进行数值计算. 相似文献
19.
We present a neural method that computes the inverse kinematics of any kind of robot manipulators, both redundant and non-redundant. Inverse kinematics solutions are obtained through the inversion of a neural network that has been previously trained to approximate the manipulator forward kinematics. The inversion provides difference vectors in the joint space from difference vectors in the workspace. Our differential inverse kinematics (DIV) approach can be viewed as a neural network implementation of the Jacobian transpose method for arm kinematic control that does not require previous knowledge of the arm forward kinematics. Redundancy can be exploited to obtain a special inverse kinematic solution that meets a particular constraint (e.g. joint limit avoidance) by inverting an additional neural network The usefulness of our DIV approach is further illustrated with sensor-based multilink manipulators that learn collision-free reaching motions in unknown environments. For this task, the neural controller has two modules: a reinforcement-based action generator (AG) and a DIV module that computes goal vectors in the joint space. The actions given by the AG are interpreted with regard to those goal vectors. 相似文献