螺旋理论在机器人解空间中的应用

APPLICATION OF SCREW THEORY TO ROBOT SOLUTION SPACES

  • 摘要: 本文首先提出了机器人解空间的概念,然后应用螺旋理论得到三自由度机器人位于解空间界面上的充分必要条件是表示三关节瞬时运动的螺旋与一过手部中心点且螺旋参量为零的螺旋互易.并推导出机器人解空间界面的母线方程.讨论了解空间界面与奇异点的关系.还举例绘制出一些解空间图形.

     

    Abstract: Concept of manipulator solution space is first presented in this paper.By applying screw theory,we derive a sufficient and necessary condition of manipulators with three degrees of freedom locating on the boundary surfaces of solution-space.That is the screws representing the instant motion of pairs must be reciprocal to ascrew passing through the centre of the terminal with zero screw parameter.Thenthe equation of the generator of manipulator solution-space boundary surfaces arederived.Next,the relationship between solution-space boundary surfaces and singularity is discussed.And some examples of mapping are given.

     

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