【摘要】 研究了求解六自由度并联机器人的活动空间时所涉及的干涉问题。所谓活动空间的边界点 ,实际上是使腿长在限定范围之内 ,且各腿不产生干涉时 ,刀具刀尖在某一方向上所能达到的最远点。所以 ,研究干涉问题对于活动空间的求解具有很重要的意义。分析了可能产生干涉的情况 ,并详细讨论了干涉危险点的问题 ,不但使编程简单 ,而且计算时间也大大减少。突破了以往按两杆轴线的公法线同两杆轴线的两个交点是在两杆线段之内或是之外的各种情况来判断是否干涉的传统方法 ,得出了一种非常简单的判断算法更多还原

【Abstract】 The interference problem which will be involved in calculating six DOF parallel robot′s workspace is studied.The so called“boundary point of workspace”actually is the farthest point the cutter tool bit can reach when the tool bit move toward a certain direction, of course, every leg should satisfy the limited range and interference mustn′t appear. So, studying interference problem is very important for calculating workspace. The possible existing interference circumstance is analyzed and the interference dangerous point is thoroughly discussed. Thus, the programme will be simple and the computing time will be reduced. The traditional method for judging interference is broken through and a simple judging algorithm is obtained.更多还原