多关节机器人工作空间仿真方法

多关节机器人的工作空间是反映机器人运动能力的一个重要指标。提出了一种简化的多关节机器人工作空间仿真方法,可以不用求解正运动学方程,只要根据简单的机器人关节变换参数就可以通过仿真迅速得到其运动空间。以Brokk50机器人为例,首先建立其D-H变换坐标图并确定变换参数,然后以Matlab为仿真工具建立仿真模型并验证参数正确性,最后运用提出的新方法快速求出其运动空间。从而能够为多关节机器人的设计改进、遥操作和轨迹规划等工作提供参考。     

一般平面机器人的工作空间分析

本文讨论一般的旋转关节平面机器人的工作空间问题，给出了作为工作空间的圆环区域的内、外半径有圆环自身的半径（厚度），同时对文献「５」的示便中关于平面机器人工作范围的一个结论进行了分析。     

并联机器人工作空间的研究

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.     

机器人灵活工作空间的边界分析

机器人灵活工作空间的分析是机器人运动学至今没有解决的一个问题.由于机器人在灵活工作空间中工作不会受到本身机构对它的限制.所以,机器人灵活工作空间的大小对于提高机器人的操作性能就显得格外重要.本文旨在解决机器人灵活工作空间边界的计算问题.首先.它分析了灵活工作空间边界的性质;其次,用一种新的方法——网络跟踪法确定了灵活工作空间在横截面内的边界;最后.提出了灵活工作空间端边界的求解方法.     

工业机器人的工作空间综合

根据机器人工作位姿要求确定其自由度数，关节类型及排列，杆件尺寸，关节运动范围，机器人的位置等过程称为机器人的工作空间综合过程，本文侧重对已知的机器人结构提出了进行工作空间综合的优化方法。     

机器人工作空间的数值计算

本文给出了计算任意结构形式任意自由度单链机器人工作空间的数值方法。这种方法把计算机器人工作空间的极限距离、边界曲线和边界曲面问题转化为求满足一定约束条件下的极值问题。通过选用不同的目标函数和约束条件就可以求出机器人工作空间边界曲面上的一系列特征点,把这些点连成线或面就构成了机器人的工作范围.根据上述讨论本文编制了计算机器人工作空间的程序软件 WZ,只要输入机器人的结构参数和各自由度的运动范围就可以求出机器人工作空间边界曲面上的若干点,并用绘图机绘出边界曲线。     

机器人工作空间快速可靠数值算法

本文根据机器人的结构特点,选定机器人工作空间的中心点,利用机器人手臂端部在各个方向上到中心点的极限距离,设计出一种快速可靠的机器人工作空间数值算法.该算法比其他数值算法计算量少一个量级,且可靠性好.     

大型喷浆机器人的工作空间分析

对机器人工作空间的求解方法进行对比研究。针对大型喷浆机器人的具体特点 ,使用蒙特卡洛法分析其工作空间 ,取得了良好的效果。     

基于MATLAB的工业机器人工作空间分析及图形仿真

在对机器人运动学分析和误差补偿方案建立的基础上,提出用数值法对与测量机器人连接的工业机器人的工作空间进行求解。对六自由度串联机器人的工作空间进行了MATLAB三维图形仿真,同时分析介于测量机器人和工业机器人之间的联动装置的球面副转角,研究球面副转角对工业机器人工作空间的影响情况。     

计算机绘图在机器人工作空间分析中的应用

本文基于圆弧投影法,提出了分析关节型一般结构机器人工作空间的数学模型。并在此基础上分析了机器人工作空间特性的一般规律,从而得出了工作空间特性与结构参数之间的内在联系。     

Planar Cable-Direct-Driven Robots: Design for Wrench Exertion

Cable-direct-driven robots and haptic interfaces are appealing because of their structural simplicity, high stiffness, and high exerted wrench-to-weight ratio. A major drawback is that cables can only exert tension. Therefore, actuation redundancy is required to apply general wrenches (force/moment vectors). Even with actuation redundancy, not all desired wrenches can be applied in some configurations due to one or more negative cable forces required. In addition, cable interference can be a serious problem for these devices. The objective of this article is to present the best design for planar cable-direct-driven robots and/or haptic interfaces with one degree of actuation redundancy, with regard to general wrench exertion and cable interference. Results indicate that the cable interference constraint dominates which suggests the need for future design work to alleviate this interference.     

Translational Planar Cable-Direct-Driven Robots

A planar cable-direct-driven robot (CDDR) architecture is introduced with only translational freedoms. The motivation behind this work is to improve the serious cable interference problem with existing CDDRs and to avoid configurations where negative cable tensions are required to exert general forces on the environment and during dynamic motions. These problems generally arise for rotational CDDR motions. Thus, we propose a class of purely translational CDDRs; of course, these are not general but may only perform tasks where no rotational motion or resistance of moments is required at the end-effector. This article includes kinematics and statics modeling, determination of the statics workspace (the space wherein all possible Cartesian forces may be exerted with only positive cable tensions), plus a dynamics model and simulated control for planar translational CDDRs. Examples are presented to demonstrate simulated control including feedback linearization of the 4-cable CDDR (with two degrees of actuation redundancy) performing a Cartesian task. We introduce an on-line dynamic minimum torque estimation algorithm to ensure all cable tensions remain positive for all motion; otherwise slack cables result from the CDDR dynamics and control is lost.     

Dynamic Analysis Tool for Legged Robots

The paper introduces a systematic approach for dealing with legged robot mechanism analysis. First, we briefly summarize basic mathematical tools for studying the dynamics of these multi-loop and parallel mechanisms using a unified spatial formulation which is useful for computer algorithms. The dynamic behavior analysis is based on two stages. The first one deals with establishing the equations of motion of the whole mechanism including legs tip impact effects and allowing us to solve the direct and inverse dynamic problems. The second concerns the feet–ground interaction aspect which is one of the major problem in the context of dynamic simulation for walking devices. We focus on the phenomenon of contact by introducing a general model for dynamic simulation of contacts between a walking robot and ground. This model considers a force distribution and uses an analytical form for each force depending only on the known state of the robot system. Finally, some simulation results of biped robot are given. The simulation includes all phenomena that may occur during the locomotion cycle: impact, transition from impact to contact, contact during support with static friction, transition from static to sliding friction and sliding friction.     

实时协同编辑系统共享工作空间的研究

结合Web和CORBA技术的优势对实时协同编辑系统的共享工作空间进行研究,论述了共享工作空间应具有的功能特点和行为特征,并给出了建立共享工作空间方案。     

Workspace analysis of fully restrained cable-driven manipulators

For Cable-Driven Parallel Manipulators (CDPMs), employing redundant driving cables is necessary to obtain the full manipulation of the moving platform because of the unilateral driving property of the cables. Unlike rigid-link manipulators, the workspace of CDPMs is always determined and characterized by positive tension status of driving cables. In addition, it has been realized that the Tension Factor (TF) reflecting the relative tension distribution among the driving cables is an appropriate measure to evaluate the quality of tension restraint for CDPMs. However, since redundant cables are employed to drive the moving platform, the TF values are not unique for a particular moving platform pose. Therefore, how to determine the workspace and obtain the optimal TF value so as to generate a workspace with optimized performance become the major subjects of this paper. It is shown that the workspace can be generally formed from tension conditions verified by a recursive dimension-reduction approach and that the optimal TF value at every pose can be efficiently determined through a linear optimization approach, although it is essentially a nonlinear optimization problem. Computational examples are provided to demonstrate the effectiveness of the proposed algorithms.     

并联机器人奇异位形分析的几何方法

采用微分几何方法,提出一种针对一般并联机器人的奇异性的分类方法,依据奇异流形与奇异运动方向的关系,将奇异性进一步区分为一阶奇异性和二阶奇异性,基于二阶奇异点分布的连续性属性将其中的二阶奇异性进一步分为退化和非退化奇异性,并对退化奇异性的物理含义进行了分析,指出退化奇异给机构带来的危险性.最后针对冗余驱动的平面二自由度并联机构进行了分析.     

基于Delaunay三角剖分的机器人工作空间体积求解

针对传统方法求解并计算并联机器人工作空间体积计算量大效率低的问题,采用Delaunay三角剖分法求取工作空间的体积。利用Matlab编程进行仿真,将Delaunay三角刮分法与子空间体积叠加法和微分法对比。结果表明,在相同的计算机配置下,采用改进的增量式Delaunay三角剖分的算法计算其体积值为6. 2645×10~5 mm^3,并耗时21 min;采用二值法计算其体积为6. 2639×10~5 mm^3,耗时27 min;采用微元法计算其体积值为6. 2643×10~5mm^3,并耗时31 min。改进的增量式Delaunay三角剖分法提高了求取工作空间的体积的效率。     

机器人操作手工作空间中的奇异曲面

本文用静力平衡分析法研究了具有任意多个自由度的由转动副(有限转角或无限转角)和移动副构成的通用机器人操作手工作空间中奇异曲面的性质及其形成方法,探讨了引起奇异位置现象的原因,发展了一种可以确定机器人操作手工作空间中奇异曲面族在任意多个任意指定平面上的截面图的算法,编制了相应的计算机程序——WARM 软件包、作了实例计算。