应用数值解析结合法求解机器人工作空间体积
Exact computation and analysis of the workspace volume of robot manipulators is very important for its optimum design and application. A numerical method based on random probability is used to generate the workspaces of 3D robot, according to the kinematics mapping relationship from the joint space...
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| Main Authors: | , , |
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| Format: | Article |
| Language: | zho |
| Published: |
Editorial Office of Journal of Mechanical Transmission
2007-01-01
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| Series: | Jixie chuandong |
| Online Access: | http://www.jxcd.net.cn/thesisDetails#10.16578/j.issn.1004.2539.2007.03.003 |
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| Summary: | Exact computation and analysis of the workspace volume of robot manipulators is very important for its optimum design and application. A numerical method based on random probability is used to generate the workspaces of 3D robot, according to the kinematics mapping relationship from the joint space to the workspace. With deeply studying the differential geometry relationship between 2D and 3D figure, the 3D workspace is addressed by enveloping boundary curves of each plane which are obtained by partitioning 3D space into various layers along Z-axis. The numerical integration is used to calculate the volume of the workspace, and one example is illustrated to show the process of computation in detail. |
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| ISSN: | 1004-2539 |