Iterative Search Algorithm for Solving Planar Parallel Robot Workspace Boundary

Song Yanan; Cui Jiankun

doi:10.16578/j.issn.1004.2539.2015.05.045

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Iterative Search Algorithm for Solving Planar Parallel Robot Workspace Boundary

更新时间：2022-10-20

- Iterative Search Algorithm for Solving Planar Parallel Robot Workspace Boundary
- Vol. 39, Issue 5, Pages: 70-72(2015)
- 作者机构：
  
  1. 上海理工大学机械工程学院
- 作者简介：
- 基金信息：
- DOI：10.16578/j.issn.1004.2539.2015.05.045
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[1]宋亚楠,崔建昆.求解平面并联机器人工作空间边界的折返式搜索算法[J].机械传动,2015,39(05):70-72.

Song Yanan, Cui Jiankun. Iterative Search Algorithm for Solving Planar Parallel Robot Workspace Boundary. [J]. 39(5):70-72(2015)
[1]宋亚楠,崔建昆.求解平面并联机器人工作空间边界的折返式搜索算法[J].机械传动,2015,39(05):70-72. DOI： 10.16578/j.issn.1004.2539.2015.05.045.

Song Yanan, Cui Jiankun. Iterative Search Algorithm for Solving Planar Parallel Robot Workspace Boundary. [J]. 39(5):70-72(2015) DOI： 10.16578/j.issn.1004.2539.2015.05.045.

摘要

描述了求解平面并联机器人工作空间边界的一种新方法。通过对平面并联机器人的分析,建立了系统的运动方程,以方程逆解存在为条件,沿工作空间边界搜索边界点。将搜索到的所有边界点在Matlab中进行仿真出图,图形结果与用几何方法得到的边界完全一致。利用此方法可以很快得到较准确、清晰的工作空间边界。

Abstract

A new method for solving planar parallel robot workspace boundary is described.These position kinematics equations are derived from the analysis of planar parallel robot.The boundary points along with the workspace boundary is searched depending on the existence of inverse solutions for these position kinematics equations.All the boundary points can be simulated based on Matlab,the simulation is the same graphic with geometric mapping.More accurate,clear workspace boundary can be obtained by this method.

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并联机器人工作空间搜索算法

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