中国机械工程2013，Vol.24Issue(6)：750-754,5.DOI:10.3969/j.issn.1004-132X.2013.06.009
6-PTRT型齿顶倒角机器人运动学及工作空间分析
Kinematic Analysis and Workspace Calculation of a 6-PTRT Manipulator for Chamfering Gear Addendum
摘要
Abstract
6 - PTRT manipulator was put forward to achieve the addendum -chamfering automation for spiral bevel gears. The gestures of its movable platform were described through Z-Y-Z Eula angle transformation and its inverse kinematics was formulated with vector equations. Furthermore,its workspace-searching algorithm was analyzed according to geometric restrictions, with the relatively exact workspace obtained. This paper lays a foundation for workspace calculation,trajectory planning, interference checking and control system design of the manipulator.关键词
螺旋锥齿轮/并联机器人/运动学逆解/工作空间Key words
spiral bevel gear/ parallel manipulator/inverse kinematics/ workspace分类
信息技术与安全科学引用本文复制引用
魏修亭,李刚,杜强,陈茜茜..6-PTRT型齿顶倒角机器人运动学及工作空间分析[J].中国机械工程,2013,24(6):750-754,5.
