| 机器人机构灵活度研究 |
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| 引用本文： | 吴剑,孙杏初.机器人机构灵活度研究[J].北京航空航天大学学报,1993(4):98-104. |
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| 作者姓名： | 吴剑 孙杏初 |
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| 作者单位： | 北京航空航天大学机电系
(吴剑),北京航空航天大学机电系(孙杏初) |
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| 摘 要： | 首次提出并研究了六自由度机器人机构灵活度的定量计算方法,编制了相应的应用软件,以各种典型关节型机器人为例,在ＳＧＩ工作站上实现了机构灵活度的定量分析计算及其三维图形显示,绘出了工作空间内平行于子午面的任意切面上的机构等灵活度曲线,本研究成果为机器人的性能分析、避障、轨迹规划等研究提供了有力的手段。
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| 关 键 词： | 机器人 机构 机构灵活度 |
RESEARCH ON THE ARTICULATION OF ROBOT MANIPULATOR |
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| Wu Jian Sun Xingchu.RESEARCH ON THE ARTICULATION OF ROBOT MANIPULATOR[J].Journal of Beijing University of Aeronautics and Astronautics,1993(4):98-104. |
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| Authors: | Wu Jian Sun Xingchu |
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| Institution: | Dept. of Mech. and Electr. Eng. |
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| Abstract: | In this paper we initiate and study the quantitative calculating method of the articulation of a robot manipulator with 6 degress of freedom and develop the related software. Also, on the SGI working station, we have, with various typical articulated robot manipulators as examples, realized the quantitative analysis and graphic simulation of the "articulation" and drawn iso-articulatoin curves in the working space, to provide a tool for obstacle avoiding and path planning of Robot. |
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| Keywords: | robot manipulator mechanism mechanism articulation |
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