Analyzing and Simulating Kinetic Performance of Space Robot with Hybrid Mechanis
-
摘要: 阐述了串、并联机器人运动性能优缺点,由此研制了一台具有移动副、回转副与平面四杆机构的混合机构空间机器人,运用机器人学理论分析了其工作空间与灵活性,并采用Matlab7.0对工作空间及灵活性进行了仿真分析,获得工作空间特征及灵活性变化规律,此机器人可在半椭球空间内完成焊接、加工、装配等任务。Abstract: We explain the merits and demerits existing in the kinetic performance of a serial or parallel robot and thus develop a space robot with the hybrid mechanism consisting of slider pair,void pair and planar 4-bar.Then we analyze its workspace and agility with the robotics and simulate them with Matlab7.0,thus obtaining the characteristics of workspace and the laws of agility change.The space robot can accomplish the tasks of welding,machining and assembling in a semi-ellipsoidal workspace.
-
Key words:
- space robot /
- hybrid mechanism /
- kinetic performance /
- workspace
-
[1] 于靖军,刘辛军,丁希仑等.机器人机构学的数学基础[M].北京:机械工业出版社,2008 [2] 熊有伦,丁汉,刘恩沧.机器人学[M].北京:机械工业出版社,1993 [3] Kumar A,Waldron K J.The workspace of a mechanical manipula-tor[J].ASME Journal of Mechanical and Design,1981,103:665~672 [4] Ceccarelli M,Vineignerra A.On the workspace of general4R ma-nipulators[J].The International Journal of Robotics andResearch,1995,14(2):152~160 [5] 黄献龙,梁斌,陈建新等.EMR系统机器人工作空间与灵活性的分析[J].机械工程学报,2001,37(2):12~15 [6] 华亮,包志华,高明等.步进电机新型控制器设计及其在机器人多自由度关节中的应用[J].控制与应用技术,2006,(10):20~25 [7] 周友行.多关节凿岩机器人工作空间的数值解法[J].计算机应用,2006,(3):48~51
点击查看大图
计量
- 文章访问数: 140
- HTML全文浏览量: 21
- PDF下载量: 5
- 被引次数: 0