| 6-PSS并联机器人操作机平动工作空间解析 |
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| 引用本文： | 姜兵,黄田. 6-PSS并联机器人操作机平动工作空间解析[J]. 机器人, 2000, 22(2): 136-142 |
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| 作者姓名： | 姜兵 黄田 |
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| 作者单位： | 天津大学机械工程学院,天津,300072 |
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| 基金项目： | 国家自然科学基金!(597750 0 6) |
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| 摘 要： | 提出一种求解6-PSS并联机器人操作机平动工作空间边界的解析方法．该方法将平动工作空间问题归结为三类子空间边界求交问题，即分别由六张球面片交集构成的上、下边界与由六张椭圆柱面交集构成的侧面边界的求交问题．文中还提出主工作空间的概念和相应的解析表达及工作空间评价指标，并探讨了设计参数对评价指标的影响规律．
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| 关 键 词： | 并联机器人 计算运动学 工作空间 曲面求交 |
CLOSED FORM SOLUTION TO TRANSLATIONAL WORKSPACE OF 6-PSS PARALLEL MANIPULATORS |
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| JIANG Bing,HUANG Tian. CLOSED FORM SOLUTION TO TRANSLATIONAL WORKSPACE OF 6-PSS PARALLEL MANIPULATORS[J]. Robot, 2000, 22(2): 136-142 |
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| Authors: | JIANG Bing HUANG Tian |
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| Abstract: | The method to formulate the closed form solution to the translational workspace boundary of 6 PSS parallel manipulators is propos. With a understanding of the kinematic characteristics of the manipulator, the workspace boundary as a whole is formulated as the intersection of three subsets, i.e. two subsets produced by the intersection of six spherical surfaces, and one subset produced by the intersection of six elliptical cylindrical surfaces. The primary workspace is also defined and the influence of the structural parameters on such workspace is discussed. |
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| Keywords: | Parallel manipulators computational kinematics workspace surface intersection |
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