| 基于计算机图形学的机器人臂部构型分析及工作空间仿真研究 |
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| 引用本文： | 刘成良,张凯,付庄,曹其新,殷跃红.基于计算机图形学的机器人臂部构型分析及工作空间仿真研究[J].机电工程,2002,19(3):44-48. |
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| 作者姓名： | 刘成良 张凯 付庄 曹其新 殷跃红 |
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| 作者单位： | 上海交通大学,机器人研究所,上海,200030 |
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| 摘 要： | 从图形学的角度对机器人臂部结构进行分析，提出了臂部结构的72种排列组合形式，并以工作空间为目标逐一进行分析，得出有21种构型可实现空间任意位姿要求。利用CAD方法对21构型的工作空间进行三维图形仿真，把工作空间分为球体、球面形、圆柱体形、圆柱筒形、圆柱面形、圆环筒形、长方体形和马蹄形，经比较得出工程应用中可供选择的15种构型，从而修正并发展了Milenkovie^1]和Kesheng^2]的12种构型的理论。
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| 关 键 词： | 计算机图形学 机器人 臂部构型分析 工作空间 仿真 |
| 文章编号： | 1001-4551(2002)03-0044-05 |
| 修稿时间： | 2001年10月12 |
Study on Arm Structure of Robot and Workspace Simulation Based on Computer Graphics |
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| LIU Cheng\|liang,ZHANG Kai,FU Zhuang,CAO Qi\|xin,YIN Yue\|hong.Study on Arm Structure of Robot and Workspace Simulation Based on Computer Graphics[J].Mechanical & Electrical Engineering Magazine,2002,19(3):44-48. |
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| Authors: | LIU Cheng\|liang ZHANG Kai FU Zhuang CAO Qi\|xin YIN Yue\|hong |
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| Abstract: | This article presents 72 kinds of structures of robot arm based on computer graphics . 21 kinds of structures that can meet the need of arbitrary position and orientation have been gotten. Among of them, 15 kinds are useful. The workspace has been divided into globe body , sphere , cylinder , tube , cylinder plane , annulus , rectangular and U-shape. The theory of 12 kinds of structures developed by Milenkovic and Kesheng is modified and developed. This theory has been used for IVECO automobile cross beam multi-robot welding workstation system. |
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| Keywords: | robot work space computer graphics |
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