论文标题
通用3R串行操作器的必要条件
Necessary and sufficient condition for a generic 3R serial manipulator to be cuspidal
论文作者
论文摘要
Cuspidal机器人可以从一种反运动溶液到另一种反式溶液，而无需达到奇异性。 Cuspidal的名称是根据3R串行机器人工作区中的尖点的存在而创造的。事实证明，尖点的存在是正交机器人具有尖质的必要条件，但不可能将此条件扩展到非正交机器人。本文的目的是证明这种情况代表任何通用3R机器人。此结果将使设计师更具灵活性。在介绍的工作中，重新审视了3R机器人反向运动学的几何解释，并注意到对姿势非姿势变化的重要观察。该论文介绍了关于任何通用3R串行机器人中降低方面的存在的定理。基于这些观察结果和该定理，我们证明了尖点的存在是任何3R通用机器人具有cuspidal的必要条件。
Cuspidal robots can travel from one inverse kinematic solution to another without meeting a singularity. The name cuspidal was coined based on the existence of a cusp point in the workspace of 3R serial robots. The existence of a cusp point was proved to be a necessary and sufficient condition for orthogonal robots to be cuspidal, but it was not possible to extend this condition to non-orthogonal robots. The goal of this paper is to prove that this condition stands for any generic 3R robot. This result would give the designer more flexibility. In the presented work, the geometrical interpretation of the inverse kinematics of 3R robots is revisited and important observations on the nonsingular change of posture are noted. The paper presents a theorem regarding the existence of reduced aspects in any generic 3R serial robot. Based on these observations and on this theorem, we prove that the existence of a cusp point is a necessary and sufficient condition for any 3R generic robot to be cuspidal.
