| 空间机器人工作空间研究 |
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| 引用本文： | 刘海涛,杨乐平,朱彦伟,韩大鹏. 空间机器人工作空间研究[J]. 组合机床与自动化加工技术, 2011, 0(8) |
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| 作者姓名： | 刘海涛 杨乐平 朱彦伟 韩大鹏 |
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| 作者单位： | 国防科学技术大学航天与材料工程学院,长沙,410073 |
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| 摘 要： | 针对空间机器人工作空间求解问题,提出一种将数值仿真和图解法相结合的方法.数值仿真采用基于随机概率的蒙特卡罗方法,同时引入碰撞检测算法和切片法,仿真得到任意给定切面内杆件与基座无碰撞的工作空间“云图”,“云图”的边界曲线由图解法确定.该方法既利用了数值仿真应用简单、适用各种机器人结构的优点,又能由图解法得到直观、准确的工作空间边界.
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| 关 键 词： | 机器人工作空间 数值仿真 碰撞检测 图解法 |
Research on Space Robot Workspace |
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| LIU Hai-tao,YANG Le-ping,ZHU Yan-wei,HAN Da-peng. Research on Space Robot Workspace[J]. Modular Machine Tool & Automatic Manufacturing Technique, 2011, 0(8) |
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| Authors: | LIU Hai-tao YANG Le-ping ZHU Yan-wei HAN Da-peng |
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| Affiliation: | LIU Hai-tao,YANG Le-ping,ZHU Yan-wei,HAN Da-peng(College of Aerospace and Materials Engineering,NUDT,Changsha 410073,China) |
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| Abstract: | An approach which combines numerical simulation with graphic method is proposed in this paper toward space robot workspace solution.The MonteCarlo method based on random probability is adopted during numerical simulation,while at the same time introducing impact testing algorithm and slice method.Numerical simulation obtains workspace nephogram provided that the links and base don't impact on any given tangent plane,and the nephogram's edge is determined by graphic method.This approach thus boasts the advan... |
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| Keywords: | robot workspace numerical simulation impact testing graphic method |
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