6-6型Stewart机器人的可操作性分析及其定义

饶青, 白师贤

饶青, 白师贤. 6-6型Stewart机器人的可操作性分析及其定义[J]. 机器人, 1994, 16(6): 345-349.
引用本文: 饶青, 白师贤. 6-6型Stewart机器人的可操作性分析及其定义[J]. 机器人, 1994, 16(6): 345-349.
RAO Qing, BAI Shixian. MANIPULABILITY ANALYSIS AND DEEINITION OF 6-SPS STEWART ROBOT[J]. ROBOT, 1994, 16(6): 345-349.
Citation: RAO Qing, BAI Shixian. MANIPULABILITY ANALYSIS AND DEEINITION OF 6-SPS STEWART ROBOT[J]. ROBOT, 1994, 16(6): 345-349.

6-6型Stewart机器人的可操作性分析及其定义

详细信息
    作者简介:

    饶青,30岁,男,博士,工程师.研究领域:机器人机构学,机电一体化技术.

MANIPULABILITY ANALYSIS AND DEEINITION OF 6-SPS STEWART ROBOT

  • 摘要: 本文根据并联机器人的特点,运用可操作度的概念,进一步提出了位置可操作度和姿态可操作度的定义.通过对位置反解直接求导,建立了6-6型stewart机器人的位置、姿态和综合可操作度的公式,为并联机器人的运动学分析提供了依据.
    Abstract: In accordance with the character of parallel robt manipulator,the concept of manipulability areused in this paper. Go a step further,the position manipulalibity and orientation manipulalibity are put for-ward.By direct derivation for position inverse sollutiOn,the formula of position and orientation manipulability of 6-SPS Stewart robot are established,which provide a new law for the parallel robot kinematic analysis.
  • [1] Yoahikawa T.Manipulability of robotic mechanisms.The International Journal of Robotic Research,(2).3-9.
    [2] Charles A K,Bruce E B.Dexterity measures for the design and control of kinematicallv redundant manipulators.The International Journal of Robotic Research,198716(2O 72-83.
    [3] Yang D C H,Lee T W.Feasibility study of a platform type of robotic manipulators from a kinematics viewpoint.ASME Mechanisms,Transmissions,and Automation in Design.19841106:189-198.
    [4] Mohamed M G,Duffy.A direct determination of the instantaneous kinematics of fully parallel robot manipulators.ASME Mechanism,Transmissions,and Automation in Design,19851107:226-229.
    [5] 拍凡忠,王洪波,黄X.并联6-SPS机器人的影响系数及其应用.机器人,1989,11(5):20-24.
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出版历程
  • 收稿日期:  1993-10-26

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