On the Workspace and the Dexterity of General Industrial Robot
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摘要: 本文重點分析通用5 關節工業機器人的工作空間、靈活性并用形象的幾何作圖、計算機顯示表達出工作空間軸截面的形狀,計算和表達出工作空間內已知各點的靈活度大小。分析和求出機器人的最佳工作區間,為通用5 關節機器人的實際作業提供了必要的依據。本文所采用的方法也可用于其他多關節機器人工作空間及靈活性的分析。Abstract: This paper presentsa study on the workspace and the dexterityof general industrial robot with 5 joints. Particularly, it deals with the section in the workspace containing the first axis and the dexterity ol points in the workspace, using the method of geometrical drawing and computer graphics. On the basis ol this tesults, the best work region of the manipulator is gained.
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Key words:
- robot manipulator /
- workspace /
- dexterity
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