论文部分内容阅读
主要分析了3-P//R⊥4r⊥R新型三维平移并联机器人机构的工作空间及奇异性,提出一种基于并联机构运动学逆解的并联机构工作空间极限边界数值搜索算法,给出了相应的计算框图,并得到了并联机构工作空间的形状。研究表明该机构具有较好的工作空间且在有效的工作空间内不产生奇异,是一种理想的三平移可选机型。
The work space and singularity of the novel 3-P // R⊥4r⊥R novel three-dimensional translational parallel robot mechanism are mainly analyzed. A numerical search algorithm for the working boundary of the parallel mechanism based on the inverse kinematics of the parallel mechanism is proposed. The corresponding calculation block diagram, and got the shape of the parallel working space. Studies have shown that the agency has a good working space and does not produce strange in the effective work space, is an ideal three-shift optional models.