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本文介绍了新型 6 - HTRT并联机器人的机构型式和工作原理 ,给出了考虑到约束条件的位置逆解算法和存在多组解时的逆解选取准则 .利用逆解算法和三维搜索 ,得到了确定该类型机器人工作空间的方法和工作空间体积的计算公式 .分析了 6 - HTRT并联机器人工作空间的形态特点以及机器人结构参数和运动参数对工作空间体积的影响 .
This paper introduces the mechanism type and working principle of the new type 6 - HTRT parallel manipulator, and presents the position inversion algorithm considering the constraints and the selection rules of inverse solution in the presence of multiple sets of solutions. By using the inverse solution algorithm and the 3D search, The calculation method of working space and working space volume of this type of robot are determined.The morphological characteristics of working space of 6 - HTRT parallel robot and the influence of robot structural parameters and motion parameters on the working space volume are analyzed.