基于逆位移解的DELTA机器人工作空间分析

摘要

为求解DELTA机器人工作空间,在对比研究现有DELTA机器人工作空间求解方法的基础上,提出了一种基于运动学逆解的DELTA机器人工作空间求解方法.该方法从机器人输入变量受限这一条件人手,利用DELTA机器人逆解算法,在给定的空间内筛选满足输入限制条件的坐标点并存储,利用Matlab软件将存储的所有空间坐标点绘制出来即为DELTA机器人工作空间.此方法避开了并联机器工作空间传统求解方法中利用正位移解计算的复杂问题.该法与蒙特卡洛法进行对比,结果表明在求解速度和图形效果上皆优于蒙特卡洛法.%To solve the work space of DELTA robot,this paper,on the basis of comparing the existing solutions for solving DELTA robot work space,proposed one kind of solution based on inverse kinematics.This method started from the condition of robot input variable limitation,utilized DELTA robot reverse algorithm to screen out and store coordinates satisfying input limitation condition,and then adopted Matlab software to draw all space coordinates stored,which turn out to be DELTA robot work space.This method avoided the complicated issue of orthotopic displacement algorithm in traditional solutions for robot work space.Next,this method was compared with Monte Carlo method,and the results show that this method proposed outperforms Monte Carlo method in terms of solution speed and drawing effect.