Workspace Enveloping Area Analysis of 5-DOF Manipulator with Link Offset

Li Fei; Wang Jie; Zhou Zhiyuan; Jiang Wei; Liu Yawen; Li Hongjun

doi:10.16578/j.issn.1004.2539.2018.06.028

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Workspace Enveloping Area Analysis of 5-DOF Manipulator with Link Offset

更新时间：2022-10-20

- Workspace Enveloping Area Analysis of 5-DOF Manipulator with Link Offset
- Vol. 42, Issue 6, Pages: 134-138(2018)
- 作者机构：
  
  1. 武汉纺织大学机械工程与自动化学院
  2. 2. 工业雷管智能装配湖北省工程研究中心
- 作者简介：
- 基金信息：
- DOI：10.16578/j.issn.1004.2539.2018.06.028
  CLC：
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[1]李飞,王杰,周志远,江维,刘亚文,李红军.5-DOF偏置型机械手工作空间包域分析[J].机械传动,2018,42(06):134-138.

Li Fei, Wang Jie, Zhou Zhiyuan, et al. Workspace Enveloping Area Analysis of 5-DOF Manipulator with Link Offset. [J]. 42(6):134-138(2018)
[1]李飞,王杰,周志远,江维,刘亚文,李红军.5-DOF偏置型机械手工作空间包域分析[J].机械传动,2018,42(06):134-138. DOI： 10.16578/j.issn.1004.2539.2018.06.028.

Li Fei, Wang Jie, Zhou Zhiyuan, et al. Workspace Enveloping Area Analysis of 5-DOF Manipulator with Link Offset. [J]. 42(6):134-138(2018) DOI： 10.16578/j.issn.1004.2539.2018.06.028.

摘要

针对基于运动学正解的蒙特卡罗法在求解机械手工作空间时,难以得到包域边界特征,而偏置型机械手的工作空间及未包域空腔形状直观性不强等问题,建立了基于连杆长度及关节角范围的包域边界点模型,得到所研究偏置型机械手的工作空间内、外边界曲线表达式,并描绘出直观、精确的工作空间透视图。通过对两种方法的理论分析及仿真求解,验证了运动学正解及蒙特卡罗法所求工作空间的正确性,并可直观看出其工作空间存在曲面包络的内未包域空腔,最后通过对内未包域空腔、工作空间体积及性能的分析,证明该偏置型机械手具有良好的工作空间性能,对偏置型机械手工作空间的研究具有理论指导意义和实践应用价值。

Abstract

The Monte Carlo method based on the kinematics positive solution is difficult to obtain the boundary feature when solving the manipulator workspace,furthermore,the shape of the workspace and the cavity of the manipulator with link offset are not obvious. The workspace boundary analysis method based on the link length and joint angle range is proposed for solving this problem. The expression of the inner and outer boundary curves of the workspace of the offset manipulator is obtained,and an intuitive and accurate workspace perspective is drawn. Based on the theoretical analysis and simulation of the two methods,the correctness of the kinematics positive solution and the Monte Carlo method is verified,and can visually see that there is a surface envelope in the workspace which is not included in the cavity. The analysis of the volume and the performance of the unpacked cavities and workspace proves that the manipulator with link offset has good workspace performance. These studies has theoretical significance and practical application value for the study on the workspace of the offset manipulator.

关键词

偏置型机械手工作空间蒙特卡罗法边界分析性能评价

Keywords

Manipulator with link offsetWorkspaceMonte Carlo methodBoundary analysisPerformance evaluation

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