| 三维机器人工作空间及几何误差分析 |
| |
| 引用本文： | 曹毅,李秀娟,宁祎,杨冠英. 三维机器人工作空间及几何误差分析[J]. 机械科学与技术, 2006, 25(12): 1458-1461,1502 |
| |
| 作者姓名： | 曹毅 李秀娟 宁祎 杨冠英 |
| |
| 作者单位： | 河南工业大学机器人研究所,郑州450007 |
| |
| 基金项目： | 国家高技术研究发展计划(863计划);河南省高校杰出科研创新人才工程项目 |
| |
| 摘 要： | 机器人工作空间的分析和求解是机器人机构设计过程中一个非常重要的问题。本文采用基于随机概率的蒙特卡罗方法,根据关节空间到工作空间的映射关系,得到了机器人机构工作空间。因为常见的机器人属于三维空间机构,所以在以前工作的基础上,将概率方法推广到对三维机器人机构工作空间的求解上。通过深入地研究二维、三维图形的微分几何关系,在沿z方向得到每一层的边界曲线基础上,采用曲线包络的方法得到了三维工作空间曲面的形状。通过一个例子详细说明了该方法的具体使用。最后对三维工作空间进行了几何误差分析,并说明了该方法对工程实际问题的应用价值。
|
| 关 键 词： | 机器人工作空间 蒙特卡罗方法 几何误差分析 |
| 文章编号： | 1003-8728（2006）12-1458-04 |
| 收稿时间： | 2005-09-30 |
| 修稿时间： | 2005-09-30 |
Computation and Geometrical Error Analysis of a 3D Robot''''s Workspace |
| |
| Cao Yi,Li Xiujuan,Ning Yi,Yang Guanying. Computation and Geometrical Error Analysis of a 3D Robot''''s Workspace[J]. Mechanical Science and Technology for Aerospace Engineering, 2006, 25(12): 1458-1461,1502 |
| |
| Authors: | Cao Yi Li Xiujuan Ning Yi Yang Guanying |
| |
| Affiliation: | Robotics Institute, Henan University of Technology, Zhengzhou 450007 |
| |
| Abstract: | The computation and analysis of a robot′s workspace are of importance in the design of robot manipulators.The paper used the Monte-Carlo method based on random probability and generated its manipulator workspace in accordance with the mapping relationship between its joint space and workspace.It extended the probability method to determine the workspace boundary of 3D robot manipulators.Through the in-depth study of the differential geometrical relationship between the 2D graph and 3D graph,the shape of the 3D workspace surface was obtained by enveloping the boundary curve of every layer along the z-axis direction.The use of the method was explained through an instance.Finally the geometrical error analysis of the workspace was conducted,and the engineering value of the method was presented. |
| |
| Keywords: | robot′s workspace Monte-Carlo method geometrical error analysis |
| 本文献已被 CNKI 维普 万方数据 等数据库收录！ |
|
