井下排爆机器人机械臂运动学及工作空间的分析.pdfVIP

Kinematics and workspace analysis of manipulator of an EOD robot in mines TIAN Haibo, MA Hongwei School of Mechanical Engineering, Xian University of Science Technology, Xian 710054, Shaanxi, China Abstract Workspace is one of the most important kinematics parameters to evaluate the ability of a robot. Two numerical methods, Monte Carlo method and fixed-step-angle method, were applied to analyze the workspace of the manipulator of an underground explosive ordnance disposal (EOD) robot. Firstly, main structure o