6⁃PTRT Parallel Robot Working Space Analysis

doi:10.3969/j.issn.1672-6952.2019.01.016

Journal of Liaoning Petrochemical University ›› 2019, Vol. 39 ›› Issue (1): 82-89.DOI: 10.3969/j.issn.1672-6952.2019.01.016

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6⁃PTRT Parallel Robot Working Space Analysis

Kang Haichao ¹， Deng Zilong ¹， Luo Lin ²

1.School of Mechanical Engineering, Liaoning Shihua University, Fushun Liaoning 113001,China； 2.PetroChina Beijing Marketing Company, Beijing 100101, China

Received:2018-03-23 Revised:2018-04-01 Published:2019-02-25 Online:2019-02-28

6⁃PTRT并联机器人工作空间分析

康海潮¹，邓子龙¹，罗琳²

1.辽宁石油化工大学机械工程学院，辽宁抚顺 113001； 2.中国石油天然气股份有限公司北京销售分公司，北京100101

通讯作者: 邓子龙（1967⁃），男，硕士，教授，从事机械设计与制造研究；E⁃mail:dzl56801@sina.com。
作者简介:康海潮（1992?），男，硕士研究生，从事机械设计与制造研究；E?mail:1297551151@qq.com。
基金资助:
辽宁省教育厅基金项目（L2017LQN024）。

Abstract

Abstract: Based on the inverse kinematics solution of 6⁃PTRT parallel robot, the constraints on the workspace are analyzed. The three⁃dimensional boundary search method is used to search the workspace in space, and then the simulation is carried out by MATLAB software programming. The shape and distribution characteristics of the workspace are visualized. The workspace volume is solved by polar coordinate search method. The correlation between the structure parameter and the workspace is analyzed by using the control variable method,and the specific effect of the structural parameter on the workspace distribution and volume is clarified. This has important guiding significance for the structural design and practical application of 6⁃PTRT parallel robot.

Key words: 6?PTRT parallel robot, Workspace, Volume, Structural parameters

摘要： 针对6⁃PTRT并联机器人，基于运动学逆解分析了对工作空间起约束作用的各限定因素，应用三维边界搜索法对工作空间进行空间内的搜索，然后通过MATLAB软件进行仿真，使工作空间形状及分布特点得到可视化；应用极坐标搜索法进行了工作空间体积的求解。采用控制变量法，通过分析各结构参数与工作空间的关联性，明确了各结构参数对工作空间分布及体积的具体影响。这对6⁃PTRT并联机器人结构设计和实际应用具有重要的指导意义。

关键词: 6?PTRT并联机器人, 　工作空间, 　体积, 　结构参数

Kang Haichao， Deng Zilong， Luo Lin. 6⁃PTRT Parallel Robot Working Space Analysis[J]. Journal of Liaoning Petrochemical University, 2019, 39(1): 82-89.

康海潮，邓子龙，罗琳. 6⁃PTRT并联机器人工作空间分析[J]. 辽宁石油化工大学学报, 2019, 39(1): 82-89.

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6⁃PTRT Parallel Robot Working Space Analysis

6⁃PTRT并联机器人工作空间分析

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