根据机器人参数和球关节对DELTA机器人进行工作空间分析

2013 10th International Conference on Ubiquitous Robots and Ambient Intelligence (URAI) Pub Date : 2013-12-02 DOI:10.1109/URAI.2013.6677396

Hyo-Jeong Cha, Jaehong Woo, B. Yi, Chanhun Park

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引用次数: 9

摘要

本文通过改变机器人参数和球关节旋转角度，对3-RRR空间并联机器人的工作空间进行了分析。在此基础上，确定了球关节的运动参数和旋转角度，得到了理想的工作空间。

本文章由计算机程序翻译，如有差异，请以英文原文为准。

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Workspace analysis of the DELTA robot according to robot parameters and ball joints

This paper deals with workspace analysis for a 3-RRR spatial parallel manipulator through changes of robot parameters as well as rotation angles of a ball-joint. Also, based on the tendency, the kinematic parameters and the rotation angle of the ball joint are determined to get a desired workspace.

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2013 10th International Conference on Ubiquitous Robots and Ambient Intelligence (URAI)

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