【摘要】 机器人工作空间的分析和求解是机器人机构设计过程中一个非常重要的问题。本文采用基于随机概率的蒙特卡罗方法,根据关节空间到工作空间的映射关系,得到了机器人机构工作空间。因为常见的机器人属于三维空间机构,所以在以前工作的基础上,将概率方法推广到对三维机器人机构工作空间的求解上。通过深入地研究二维、三维图形的微分几何关系,在沿z方向得到每一层的边界曲线基础上,采用曲线包络的方法得到了三维工作空间曲面的形状。通过一个例子详细说明了该方法的具体使用。最后对三维工作空间进行了几何误差分析,并说明了该方法对工程实际问题的应用价值。更多还原

【Abstract】 The computation and analysis of a robot′s workspace are of importance in the design of robot manipulators.The paper used the Monte-Carlo method based on random probability and generated its manipulator workspace in accordance with the mapping relationship between its joint space and workspace.It extended the probability method to determine the workspace boundary of 3D robot manipulators.Through the in-depth study of the differential geometrical relationship between the 2D graph and 3D graph,the shape of the 3D workspace surface was obtained by enveloping the boundary curve of every layer along the z-axis direction.The use of the method was explained through an instance.Finally the geometrical error analysis of the workspace was conducted,and the engineering value of the method was presented.更多还原