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工程力学  2013 

高速柔索牵引摄像机器人动力工作空间研究

DOI: 10.6052/j.issn.1000-4750.2012.07.0543, PP. 245-250

Keywords: 并联机器人,柔索牵引并联机构,摄像机器人,工作空间,索力求解

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Abstract:

首先,提出了一种基于最小二范数的高速柔索牵引摄像机器人的索力快速优化算法;其次,基于集合理论得到了动力工作空间的一致求解策略;进而,仿真计算了给定结构参数下的机器人动力工作空间,并结合机器人沿工作空间顶面特定曲线运行时索长及索力的变化规律,对工作空间顶面形成的原因进行了分析;最后,借助工作空间底面剖视图研究了机器人工作空间底面的可达区域与支撑杆高度的影响关系,得出合理选取支撑杆高度的依据。

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