Delta机器人工作空间与力矩传递性能分析

摘要

In order to analyze the distribution of load capacity of Delta robot in practical application , the torque transmissibility of robot was discussed .A simple and efficient method based on Monte Carlo to draw Delta's workspace was presented .Expression of in-verse kinematics of the robot was derived , selecting the area of continuous reachable workspace as practical workspace whose inverse kinematics expression was unique , and based on this to determine the theoretical maximum height of an object for a Delta robot to grasp.Graphs of torque transmissibility of the robot were drawn on different cross sections along the z axis in practical workspace of the robot.The results of simulation indicate that the positions of better torque transmissibility of Delta robot are generally symmetrical dis -tributed, small-area concentrated and overall scattered , and the load capacity increases with increasing the height of the cross section .%为分析Delta机器人在实际运用中的负载能力大小的分布情况，研究了Delta机器人的力矩传递性能。提出了一种基于蒙特卡洛法的绘制机器人工作空间简单高效的方法；推导了机器人的运动学逆解表达式，选取连续可达工作空间逆解表达式唯一的区域作为实际工作空间，并以此确定Delta机器人能够抓取的物体其理论最大高度；绘制机器人在实际工作空间的z轴方向不同截面上的力矩传递性能图谱。仿真结果表明： Delta机器人的力矩传递性能较好的位置总体呈对称分布，且是小区域集中，整体散布，负载能力随截面高度的增加而增大。