工业机器人工作空间及灵活性

On the Workspace and the Dexterity of General Industrial Robot

摘要: 本文重点分析通用5 关节工业机器人的工作空间、灵活性并用形象的几何作图、计算机显示表达出工作空间轴截面的形状,计算和表达出工作空间内已知各点的灵活度大小。分析和求出机器人的最佳工作区间,为通用5 关节机器人的实际作业提供了必要的依据。本文所采用的方法也可用于其他多关节机器人工作空间及灵活性的分析。

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.