| 并联机器人工作空间的研究 |
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| 引用本文： | 吴生富,王洪波.并联机器人工作空间的研究[J].机器人,1991,13(3):33-39. |
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| 作者姓名： | 吴生富 王洪波 |
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| 作者单位： | 富拉尔基第一重型机械厂，燕山大学机械工程系，燕山大学机械工程系 秦皇岛，秦皇岛 |
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| 摘 要： | 本文对并联机器人的工作空间进行了研究.算法上采用输入转化的方法.使优化过程大为简化.在此基础上.对并联机器人工作空间的各截面进行了分析.并详细讨论了结构尺寸与工作空间的关系.得出扩大工作空间的几种途径.这对设计和应用并联机器人都有实际意义.
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| 关 键 词： | 机器人 工作空间 |
STUDY OF WORKSPACE IN PARALLEL ROBOT MANIPULATOR |
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| WU Shengfu,WANG Hongbo,HUANG Zhen First Heavy Factory,Fulcarji Mechanical Dept,Yanshan Univ. Qinhuangdao.STUDY OF WORKSPACE IN PARALLEL ROBOT MANIPULATOR[J].Robot,1991,13(3):33-39. |
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| Authors: | WU Shengfu WANG Hongbo HUANG Zhen First Heavy Factory Fulcarji Mechanical Dept Yanshan Univ Qinhuangdao |
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| Abstract: | The workspace of parallel robot manipulator is studied in this paper. As the method of input-trans-formation is used in algorithm, the optimization procedure is simplified. In the paper, the workspace sec-tions of parallel robot manipulator are analyzed, and the relation between size and workspace is discussedin detail. The method of workspace enlargement obtained in this paper is significant for designing and us-ing parallel robot manipulator. |
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| Keywords: | parallel robot manipulator workspace optimization |
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