应用数值解析结合法求解机器人工作空间体积

doi:10.16578/j.issn.1004.2539.2007.03.003

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应用数值解析结合法求解机器人工作空间体积

更新时间：2025-04-03

- 应用数值解析结合法求解机器人工作空间体积
- Issue 3, Pages: 10-12+47+3(2007)
- 作者机构：
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- DOI：10.16578/j.issn.1004.2539.2007.03.003
  CLC： TP242
- Published：2007
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[1]曹毅,于心俊,杨冠英.应用数值解析结合法求解机器人工作空间体积[J].机械传动,2007(03):10-12+47+3.

[J]. 2007, (3): 10-12+47+3.
[1]曹毅,于心俊,杨冠英.应用数值解析结合法求解机器人工作空间体积[J].机械传动,2007(03):10-12+47+3. DOI： 10.16578/j.issn.1004.2539.2007.03.003.

[J]. 2007, (3): 10-12+47+3. DOI： 10.16578/j.issn.1004.2539.2007.03.003.

摘要

机器人工作空间体积的求解是机器人优化设计和使用中一个非常关键的问题。本文采用一种基于随机概率的数值方法

根据关节空间到工作空间的映射关系

得到了三维机器人工作空间。通过深入的研究二维、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

采用曲线包络的解析方法得到了三维工作空间曲面的形状。采用数值积分的方法对工作空间体积进行了计算

并通过一个例子说明了该方法的具体使用。

Abstract

Exact computation and analysis of the workspace volume of robot manipulators is very important for its optimum design and application. A numerical method based on random probability is used to generate the workspaces of 3D robot

according to the kinematics mapping relationship from the joint space to the workspace. With deeply studying the differential geometry relationship between 2D and 3D figure

the 3D workspace is addressed by enveloping boundary curves of each plane which are obtained by partitioning 3D space into various layers along Z-axis. The numerical integration is used to calculate the volume of the workspace

and one example is illustrated to show the process of computation in detail.

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