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提出了求解平面并联机器人工作空间边界的基于迭代搜索法的圆周式搜索算法,并分析了其灵活性指标。通过对3-RRR平面机器人工作空间的分析,根据迭代搜索法,在判别方程存在逆解的条件下,以圆周式搜索算法确定一系列的边界点,所得结果与运用几何方法得到的结果一致。利用末端执行器上点的速度来表示机构的运动,得出了受限制的、量纲一致的雅可比矩阵,从而衡量平面并联机器人的灵活性,并借助于Matlab绘图,直观地反映了新的雅可比条件数在工作空间内的分布情况。根据所得的雅可比矩阵,可以得到更准确的灵活性指标。
A circular search algorithm based on iterative search method is proposed to solve the boundary of planar parallel robot, and its flexibility index is analyzed. By analyzing the working space of 3-RRR planar robot, a series of boundary points are determined by circular search algorithm under the condition of inverse solution to the discriminant equation according to the iterative search method. The obtained results are consistent with those obtained by using the geometric method. Using the velocity of the point on the end effector to represent the movement of the mechanism, a constrained and dimensionally consistent Jacobian matrix is obtained to measure the flexibility of the planar parallel robot. By means of Matlab drawing, the new The distribution of Jacobi conditions in the workspace. Based on the resulting Jacobian matrix, more accurate indicators of flexibility can be obtained.