6-PTRT型齿顶倒角机器人运动学及工作空间分析

摘要

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.%为实现螺旋锥齿轮倒角加工自动化,设计了6-PTRT型齿顶倒角机器人,采用Z-Y-Z型欧拉角变换描述动平台姿态,使用矢量法求解运动学逆解方程,结合几何约束给出了工作空间搜索算法,并计算了样机的工作空间.实例证明该算法可以较精确地计算出倒角机器人的工作空间,为倒角加工的轨迹规划、干涉检查与控制系统设计奠定了基础.