基于几何法的3-PCR平移并联分拣机器人工作空间研究

商记中; 陈安军

包装工程（技术栏目） ›› 2011 ›› Issue (17) : 80-83.

商记中, 陈安军

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Research on the Workspace of 3-PCR Translational Sorting Parallel Robot Based on Geometrical Method

SHANG Ji-zhong, CHEN An-jun

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摘要

利用几何法，对3-PCR并联机器人运动学方程进行了分析。选取了一定的参数，在三维软件INVENTOR里绘制出了相应的工作空间，通过分析单独支链的工作空间，最后确定了工作空间的包络面及包络线，并分析了该机构工作空间内的奇异性。

Abstract

The kinematical equation of a 3-PCR parallel robot was analyzed in geometrical method. With certain parameters specified, the corresponding workspace was drawn out with a 3D software INVENTOR. By analyzing workspace of each limb, the faces and lines of the workspace boundary was determined and then the singularity of the workspace was discussed.

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商记中, 陈安军. 基于几何法的3-PCR平移并联分拣机器人工作空间研究[J]. 包装工程（技术栏目）. 2011(17): 80-83

SHANG Ji-zhong, CHEN An-jun. Research on the Workspace of 3-PCR Translational Sorting Parallel Robot Based on Geometrical Method[J]. Packaging Engineering. 2011(17): 80-83