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新型4自由度并联机构的运动学建模与分析 总被引:6,自引:4,他引:6
基于并联机器人机构的运动输出理论,考虑结构的对称性和支链的可重组性,构造出一种新型的具有三平移一转动的4自由度并联机器人机构。运用Denavit—Hartenberg表示方法建立机构位移反解模型并进行了数值验算。通过分析反解模型,找出影响机构可达工作空间的因素。引入蒙特卡罗方法思想,提出一种定姿态三维网格搜索方法来得到工作空间,利用Matlab软件编程,以图解形式描绘定姿态下的工作空间容积及工作空间与姿态角的变化态势,并对其进行了分析。 相似文献
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From the mere presence of plants to window views of nearby nature, contact with nature in the workplace has been associated with increased productivity and creativity, as well as positive emotional and physical health outcomes. Nevertheless, if nature is to be incorporated within or near workplaces effectively, it is important that workers perceive natural spaces to be conducive, and not detrimental, to performance on activities that they may engage in at work or else these changes to the physical environment may not be fully embraced by workers. Thus, in the current research we examine workers’ preferences and perceptions of different natural and constructed (built) environments for different workplace activities. In Study 1, 64 knowledge workers were exposed to images of natural outdoor and constructed indoor workspaces. They selected where they thought they would best and least be able to perform different workplace activities. Natural outdoor spaces were overrepresented as the best spaces for around 75% of the workplace activities, and were underrepresented as the worst spaces across all workplace activities. In Study 2 (N = 33), wherein participants evaluated various spatial qualities of the natural outdoor and constructed indoor space types that were included in Study 1, the natural outdoor spaces were rated as more fascinating, relaxing, open, bright, and quiet. The results of this research project suggest that natural outdoor workspaces are viewed as highly flexible, multi-use spaces that are appropriate for diverse workplace activities. Furthermore, access to diverse workspace types with different spatial qualities appears to be highly valued. 相似文献
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提出了能实现二维转动和二维移动的空间4-UPS-RPU4自由度冗余驱动并联机构,并对该机构进行了运动学和工作空间分析。4-UPS-RPU并联机构包含5条驱动分支,其中4条分支为UPS(虎克铰-移动副-球副)结构,1条分支为RPU(转动副-移动副-虎克铰)结构。建立了该机构的位置反解数学模型,推导出了该机构的速度雅可比矩阵和加速度分析表达式,求解了机构的位置反解、速度和加速度,并在此基础上分析该机构的工作空间。研究结果为4-UPS-RPU冗余驱动并联机构的实际应用提供了理论依据。 相似文献
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机器人工作空间求解的蒙特卡洛法改进 总被引:1,自引:0,他引:1
对机器人工作空间求解的蒙特卡洛法的基本原理、算法流程、适用范围等进行了研究,分析了蒙特卡洛法中随机点分布的不均匀性以及内部随机点和边界随机点的不同作用,并总结了立体工作空间随机点分层处理时引起的误差情况.针对传统算法边界处随机点分布不理想的问题,强调边界点的重要性,根据关节空间到工作空间映射的连续性,在先期搜索到的边界点的小邻域内重新生成随机点,从而有效改善了边界处随机点的分布状况,提高了边界点的精确度.针对立体工作空间随机点分层处理带来的误差,采用二次分层的方法,通过减小统计层厚度提高边界点的统计精度.大量的试验证明了算法的有效性. 相似文献
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