基于AutoCAD平台的六自由度并联机器人

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．

GEOMETRICAL DETERMINATION OF WORKSPACE FOR 6-DOF PARALLEL MANIPULATORS BASED ON AUTOCAD PLATFORM

The issue of geometrical determination of the workspace for 6 DOF parallel manipulators is concerned. The methods described here are used to obtain the graphical representation of the regions of the three dimensional Cartesian space that are attainable by the manipulators with a given orientation of the platform. The workspaces of a Stewart parallel manipulator and a 6 RTS parallel manipulator are studied by using the methods. The results show that the positioning workspace of a Stewart parallel manipulator is the intersection of six same hollow spheres, the positioning workspace of a 6 RTS parallel manipulator is the intersection of six same regular tori. Using the geometrical methods, the workspaces and the sections of the manipulators and the volumes of workspaces can be obtained easily in the desk of AutoCAD. An example is included to illustrate the application of the method.