新型6-HTRT并联机器人工作空间和参数研究

本文介绍了新型6-HTRT并联机器人的机构型式和工作原理，给出了考虑到约束条件的 位置逆解算法和存在多组解时的逆解选取准则．利用逆解算法和三维搜索，得到了确定该类 型机器人工作空间的方法和工作空间体积的计算公式．分析了6-HTRT并联机器人工作空间 的形态特点以及机器人结构参数和运动参数对工作空间体积的影响．

STUDY ON THE WORKSPACE AND PARAMETER OF NOVEL 6-HTRT PARALLEL ROBOT

In this paper mechanical architecture and the working principle of 6-HTRT Parallel Robot are introduced. The algorithm of Inverse Position of the parallel robot considering the constraint conditions and the judgement criterion in the case of multi-answer of Inverse Position are presented. Using the algorithm together with searching in three-dimensional space, we get the method of finding the workspace and the formula of calculating the volume of work space, which is used in simulation of workspace. Study of the influence of kinematics and structural parameter on volume and shape of workspace is also implemented with the above method.