【摘要】 提出了一种基于Delta并联机构的新型激光切割机床。建立了三自由度Delta并联机构的反解方程和工作空间求解模型,分析了各支链子工作空间的几何形状及其内部出现空洞的条件,从而将工作空间解析归结为可达工作空间外部边界与内部空洞边界求解。采用几何分析与数值迭代相结合的方法,探索了工作空间每一区域的边界,得到了机构工作空间的完整描述。整个求解过程直观、简明,计算速度快。更多还原

【Abstract】 A new laser cutting manipulator based on Delta parallel robot is proposed. Inverse equations and even the inverse kinematics model of the three-degree-of-freedom Delta parallel structure are established. The geometric shape of each subchain’s workspace is analyzed and how the interior hole is formed are discussed in the test, so the problem of workspace depends on the solution of outside boundary and interior hole boundary of workspace. Using the combined method between geometric algorithm and numerical iterative algorithm, the geometric contour of each subchain’s workspace is taken into account and the boundary conditions of all the workspace region are discussed thoroughly. Through above analysis, the whole solution process is intuitionistic and concise, and the calculation speed is even faster.更多还原