二重八面体变几何桁架机器人工作空间解析

摘要

提出了二重八面体变几何桁架机器人工作空间的边界曲面分析方法。该方法以曲面分析及位置正解的解析方法为基础，得到了工作空间边界曲面解析的曲面方程，描绘出了工作空间边界曲面的精确图形。分析计算结果表明，二重八面体变几何桁架机器人的工作空间是由6张曲面片包围而成的闭包。%Boundary surface analysis method for workspace of double-octahedron variable geometry truss robotic manipulators(VGTRM) is proposed in this paper. Based on surface analysis and analytical method of direct displacement analysis, the analytical surface equations of double-octahedron VGTRM are derived. Precise shape of double-octahedron VGTRM￠s workspace boundary surface is drawn. Analysis and calculations show that the workspace of double-octahedron VGTRM is enveloped by six surface patchs.