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本文首先提出了机器人解空间的概念,然后应用螺旋理论得到三自由度机器人位于解空间界面上的充分必要条件是表示三关节瞬时运动的螺旋与一过手部中心点且螺旋参量为零的螺旋互易。并推导出机器人解空间界面的母线方程。讨论了解空间界面与奇异点的关系。还举例绘制出一些解空间图形.
In this paper, the concept of robot solution space is first proposed. Then, the necessary and sufficient condition that a three-degree-of-freedom robot is located on the solution space interface by using spiral theory is that a spiral that represents the instantaneous movement of the three joints and a spiral that crosses the center of the hand and has zero helix easy. And deduces the bus equation of robot solution space interface. Discuss to understand the relationship between the spatial interface and singularity points. Also draw some examples of space solution graphics.