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尺度约束类型是指构件为其所连接的运动副轴线之间的相对方位提供的几何约束类型,研究了一种基于尺度约束类型及其顺序的机器人支链的拓扑结构表示及其设计方法。建立尺度约束类型与符号表示之间的对应关系;基于方位特征集及自由度,将尺度约束类型作为单元,综合出4自由度和5自由度的串联机构结构,并给出其尺度约束类型表示;通过对6自由度关节机器人进行演化分析,获得5轴及4轴工业机器人,并对这些串联机器人的方位特征集及尺度约束类型进行分析。
The scale constraint type refers to the type of geometric constraint provided by the component for the relative orientation between the kinematic secondary axes to which it is connected. A topological structure representation and design method of robot branch based on the scale constraint type and its order are studied. Based on the azimuth feature set and the degree of freedom, the scale constraint type is taken as the unit, and the structure of the serial mechanism with 4 degrees of freedom and 5 degrees of freedom is synthesized, and its scale constraint type representation By analyzing the evolution of 6-DOF articulated robots, 5-axis and 4-axis industrial robots are obtained, and the orientation feature sets and scale constraints of these robots are analyzed.