三维机器人工作空间及几何误差分析.pdfVIP

25 12 Vol. 25 No. 12 2006 12 M ECHANICAL SCIENCE AND TECHNOLOGY December 2006 : 1003 72 ( 2006) 12145 04 曹 毅, 李秀娟, 宁 祎, 杨冠英 ( , 450007) : 机器人工作空间的分析和求解是机器人机构设计过程中一个非常重 的问题本文采用基于随机概率的 蒙特卡罗方法, 根据关节空间到工作空间的映射关系, 得到了机器人机构工作空间因为常见的机器人属于三维空 间机构, 所以在以前工作的基础上, 将概率方法推广到对三维机器人机构工作空间的求解上通过深入地研究二 维三维图形的微分几何关系, 在沿z 方向得到每 一层的边界曲线基础上, 采用曲线包络的方法得到了三维工作空 间曲面的形状通过 一个例子详细说明了该方法的具体使用最后对三维工作空间进行了几何误差分析, 并说明 了该方法对工程实际问题的应用价值 : 机器人工作空间; 蒙特卡罗方法; 几何误差分析 : TP24; O242. 2 : A Com pu tation and G eom etrical E rror Analysis of a 3D RobotsW orkspace Cao Y ,i L iX iujuan, N ing Y,i Y ang Guanying ( Robotics Institute, H enan U niversity of Technology, Zhengzhou 450007) Abs tract: The computation and analysis of a robots workspace are of mi portance in the design of robot manipulators. The paper used theMonteCarlomethod based on random probability and generated itsm a n ipulator workspace in accordancew ith themapping relationsh ip betw een its joint space and workspace. It extended the probab ilitym ethod to determ ine the workspace boundary of 3D robotm anipulators. Through the indepth study of the differential geometrical relationsh ip betw een the 2D graph and 3D graph, the shape of the 3D w orkspace surface was obtained by envelop ing the boundary curve of every layer along the z axis d irection. The use of the methodw as exp lained through an instance. F inally the geom etrical error analysis of the w orkspace w as conducted, and the engineering value of the methodw as presented. Key w ord s: robotsw orkspace; MonteCarlo method; geometrical error analysis , , Ja