该等效8-SPU移动机器人行走时为腿式机器人,支撑板壳类工件时为并联机器人.对该机构进行了逆位置求解,建立了运动学映射模型,综合考虑了工作空间的几何约束和运动性能约束,运用柱坐标边界搜索法确定工作空间边界,绘制了定姿态工作空间三维实体模型及其截面图,分析了工作空间的联通性以及机构参数对工作空间的影响,从操作度和均匀性两方面对不同约束下的工作空间进行了性能比较分析.结果表明:综合约束下机器人的工作空间具有更好的运动性能.该等效8-SPU移动机器人工作空间分析为其结构优化、运动控制以及路径规划奠定了理论基础.%The equivalent 8-SPU mobile robot acts as a leg type robot while walking and a parallel robot while supporting.Inverse position solution,kinematics mapping model,and comprehensive constraints with combining geometric constrains and kinetic property constraints are suggested for the workspace analysis of this mechanism.The polar coordinate boundary searching method is used to determine the workspace boundary,and then the 3D solid model of fixed pose workspace and its cross-sectional drawing are also given.The effect of mechanism parameters on workspace volume size and connectivity is also intensively analyzed.Moreover,the workspace is analyzed from manipulability and uniformity,and compared under two different constraint conditions.The analysis results demonstrate that the workspace under the comprehensive constraints has better motion performance.The robot workspace analysis in this study provides a theoretical basis for its structural optimization,motion control and path planning.
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