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本文提出了用机器人操作器末杆的自转角灵活度及两个互相垂直的主截面内的灵活度的组合,来表示机器人对给定工作点的灵活性的方法。这种方法直观、方便,易于求解和应用.用它研究具有结构条件限制的机器人操作器工作空间灵活度时,发现在工作空间里,存在有不同灵活度的区域,曲线或曲面.本文还特别提出了工具(夹具)的预置位姿的概念,并以 5R 操作器为例,充分证明了预置位姿的改变.可以在操作器灵活度不变的条件下大大改善机器人的工作可能性。
This paper presents a method to represent the flexibility of a robot for a given working point by using a combination of the flexibility of the tip of the robot manipulator and the flexibility in the two main cross sections perpendicular to each other. This method is intuitive, convenient and easy to solve and apply.Using it to study the workspace flexibility of robot manipulator with structural constraints, it is found that there are regions, curves or surfaces with different flexibility in the workspace.This article also specially The concept of preset position and posture of the tool (jig) is put forward, and the 5R manipulator is taken as an example to fully prove the change of preset position and posture, which can greatly improve the working possibility of the robot under the condition of the flexibility of the manipulator .