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。

Volume Solution of Robot Workspace Based on Delaunay Triangulation

In order to solve the problem of large volume calculation and low efficiency in traditional methods,the Delaunay triangulation method is used to calculate the volume of workspace.The Delaunay triangulation method is compared with subspace volume superposition and infinitesimal methods by using Matlab programming for simulation.Under the same computer configuration,the results show that the volume value calculated by improved incremental Delaunay triangulation algorithm is 62645×10^5 mm^3 and takes 21 minutes.The volume value calculated by binarization method is 62639×10^5 mm^3 and takes 27 minutes.And the volume value calculated by infinitesimal method is 62643×10^5 mm^3 and takes time 31 minutes.In summary,the improved incremental Delaunay triangulation method improves the efficiency of calculating the volume of working space.