Research of the Workspace Property and Kinematics Analysis of a Kind of Industrial Robot

Fan Yu; Cai Ganwei

doi:10.16578/j.issn.1004.2539.2015.08.005

您当前的位置：

首页 >

文章列表页 >

Research of the Workspace Property and Kinematics Analysis of a Kind of Industrial Robot

更新时间：2022-10-20

- Research of the Workspace Property and Kinematics Analysis of a Kind of Industrial Robot
- Vol. 39, Issue 8, Pages: 18-21(2015)
- 作者机构：
  
  1. 广西大学机械工程学院
  2. 东风商用车技术中心
- 作者简介：
- 基金信息：
- DOI：10.16578/j.issn.1004.2539.2015.08.005
  CLC：
扫描看全文
[1]范雨,蔡敢为.一种工业机器人的运动学分析与工作空间性能研究[J].机械传动,2015,39(08):18-21+31.

Fan Yu, Cai Ganwei. Research of the Workspace Property and Kinematics Analysis of a Kind of Industrial Robot. [J]. 39(8):18-21(2015)
[1]范雨,蔡敢为.一种工业机器人的运动学分析与工作空间性能研究[J].机械传动,2015,39(08):18-21+31. DOI： 10.16578/j.issn.1004.2539.2015.08.005.

Fan Yu, Cai Ganwei. Research of the Workspace Property and Kinematics Analysis of a Kind of Industrial Robot. [J]. 39(8):18-21(2015) DOI： 10.16578/j.issn.1004.2539.2015.08.005.

摘要

设计了一种工业机器人的结构,这种机器人主要特点是:肩关节和肘关节的运动通过平行四边形机构引出,利用滚珠丝杠传递运动,提高了精度并且具有较大的结构刚度,也有利于提高机器人的动力学性能。同时保留了串联机器人具有较大的工作空间的特点。针对这种机器人进行了运动学分析,并提出了一种工作空间求解改进的描点法,随后又提出一种工作空间求解的边界分析法。结果显示,工作空间的边界分析法求解方法运算量小,求得的结果清晰明了;然后对所求解的工作空间体积进行了计算,并计算了机器人工作空间性能指标,分析证明了这种机器人具有良好的工作空间性能。

Abstract

A kind of parallel series robot is designed,the characteristic are as following: shoulder and elbow joints are transferred out by parallelogram linkages and driven by ballscrew,which makes it own larger rigidity and better dynamic performance. It keeps the good characteristics of larger workspace series robot. The kinematics analysis of this robot is carried out,the workspace is solved by means of an improved way of printing points,and then,the boundary analysis method is proposed to calculate the workspace. The results show that the computation of the boundary analysis method is smaller and the result is clear. The volume and performance index are calculated based on the solved workspace. And it proves that this kind of robot has better workspace property.

关键词

机器人运动学工作空间边界分析

Keywords

references

Views

328

下载量

CSCD

Alert me when the article has been cited

提交

Tools

Publicity Resources

Research and Application of the Solving Method for Robotic Workspace

Workspace Analysis and Optimization Design of 3- PUU Parallel Mechanism

Research of the Rod Drive Mechanism on Lifting and Translation Device of the Logistics Vehicle

Friction Coefficient Selection of the Robot Travelling Mechanism and Structure Improvement of the Driving Structure

Inverse Kinematics Algorithm of 6-DOF Robots based on Geometric Method and Screw Theory

Related Author

No data

Related Institution

Jiangsu Province Key Laboratory of Advanced Food Manufacturing Equipment and Technology,School of Mechanical Engineering,Jiangnan University

College of Mechanical Engineering,Liaoning Technical University

Tangshan SAIC Bus Co.,Ltd.

College of Mechanical Engineering,North China University of Science and Technology

Department of Automation Engineering,Tangshan Polytechnic College

⁰