【摘要】 针对某一种密闭压力容器检测机器人工作空间灵活性的问题,首先运用D-H法对该机器人进行建模,利用Monte Carlo法对机器人的工作空间进行Matlab仿真;然后借用服务球的概念建立了机器人工作空间任意点的灵活度的计算方法,利用灵活度的概念对机器人工作空间内给定点的灵活度进行了求解,对机器人给定工作空间截面上的灵活度分布进行了仿真与分析;最后研究了关节尺寸对机器人工作空间中给定点灵活度的影响。结果表明,机器人在工作空间满足任务需求的前提下,关节尺寸越小,灵活性越好。此研究为关节型机器人的尺寸优化、路径优化、灵活性分析提供了参考。更多还原

【Abstract】 Aiming at the dexterity of working space of a kind of closed pressure vessel inspection robot,firstly,the kinematics modeling of the inspection robot was carried out by the D-H method. The calculation and simulation were executed by Matlab software for the workspace of the robot with the Monte Carlo method. Then by using the service sphere,the calculation method of dexterity of any point in the robot workspace was got. Based on the concept of the dexterity of robot,the dexterity of a given point was solved and the dexterity distribution of robot on the given section of workspace was studied. Finally the influence of joint size on the robot dexterity was studied. Results show that the robot workspace under the premise of meet the mission requirements,joint size is smaller,the better dexterity. The research provides a reference in size synthesis,path optimization and. dexterity analysis.更多还原