基于数值算法和CAD的机器人工作空间三维建模

机器人操作臂三维工作空间的精确计算对于它的设计和应用非常重要。文中介绍了一种基于数值算法和CAD的新方法来创建机器人的三维工作空间。该方法采用一种基于随机概率和前向运动学的数值方法,在其主工作空间横向剖面生成由点云构成的3D机器人的平面工作空间,描绘平面工作空间的边界曲线,最后生成机器人工作空间的3D模型。文中用实例阐明了该方法的实用性。

3D Modeling of Robot Workspace Using Numerical Algorithm and CAD Software

Exact computation of the three dimensional（3D） workspace of robot manipulator is essential for its optimum design and application.In the paper,a novel approach based on numerical algorithm and CAD software,is presented to create there dimensional robot workspace.A numerical method based on random probability and forward kinematics is used to generate the planar workspace composing of points cloud of 3D robot in its main working plane,a simple method is proposed to depict the boundary curve of the planar workspace,the 3D model of robot workspace is generated finally.One example is presented in the paper to illustrate the practicability of the method.