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Wang Xiaohua, Wang Yuhe, Wang Wenjie, Wang Jin, Tao Qing. Analyzing Workspace of Sewing Robot[J]. Mechanical Science and Technology for Aerospace Engineering. doi: 10.13433/j.cnki.1003-8728.20190260
Citation: Wang Xiaohua, Wang Yuhe, Wang Wenjie, Wang Jin, Tao Qing. Analyzing Workspace of Sewing Robot[J]. Mechanical Science and Technology for Aerospace Engineering. doi: 10.13433/j.cnki.1003-8728.20190260

Analyzing Workspace of Sewing Robot

doi: 10.13433/j.cnki.1003-8728.20190260
  • Received Date: 2019-05-10
    Available Online: 2020-12-29
  • In order to determine the sewing robot′s workspace so as to meet its structural conditions and to improve the planning efficiency before its operation,its kinematics model is established with the screw theory.The correctness of the kinematic model is verified with the Adams software. The Monte Carlo method together with the control variable method is used to analyze the workspace that has regional restrictions and to determine the optimal range of rotation angles for each joint of the sewing robot in its actual working environment. The free and limited conditions of the cloud map of its workspace are simulated with the MATLAB. The simulation results show that the joint rotation angle range determined in this paper satisfies the actual workspace requirements of the sewing robot and provides a theoretical basis for the follow-up research of it.
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