祖文波, 陶王送, 黄真. 五自由度串联机器人手部特殊的转动自由度[J]. 机器人, 1997, 19(6): 450-455.
引用本文: 祖文波, 陶王送, 黄真. 五自由度串联机器人手部特殊的转动自由度[J]. 机器人, 1997, 19(6): 450-455.
ZU Wenbo, TAO Wangsong, HUANG Zhen. THE SPECIAL ROTATION FREEDOM OF THE END EFFECTOR OF A FIVE-DOF SERIES ROBOT[J]. ROBOT, 1997, 19(6): 450-455.
Citation: ZU Wenbo, TAO Wangsong, HUANG Zhen. THE SPECIAL ROTATION FREEDOM OF THE END EFFECTOR OF A FIVE-DOF SERIES ROBOT[J]. ROBOT, 1997, 19(6): 450-455.

五自由度串联机器人手部特殊的转动自由度

THE SPECIAL ROTATION FREEDOM OF THE END EFFECTOR OF A FIVE-DOF SERIES ROBOT

  • 摘要: 应用反螺旋理论,讨论当反螺旋是个h≠0旋量时,允许转动轴线在空间分布规律.着重对五自由度串联机器人Motoman的运动性质作出分析,且给出其全部5种不同条件下的运动图谱.

     

    Abstract: Based on the reciprocal screw theory, this paper discusses the distribution of the rotational axes in space when the reciprocal screw is a screw (h≠0), analyses in particular the kinematic characteristics of a five-DOF series robot-Motoman, and presents its 5 kinds of kinematic atlas in different conditions.

     

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