摘要
建立了ＲＶ－ Ｍ１ 型机器人干涉的数学模型。利用反运算求解关节角；并推导出手臂与工件干涉的判别关系，通过编程处理得到不干涉的最大半径与ＴＬ、Ｌ的关系。
A mathematical model is established on interference happening to RV-MI type of Robot. The articular angles are found by applying anticalculation. Hereby, a discriminant relationship is reached between workpieces and arms. The relationship between \%TL,L\% and max radius of noninterference is found through programming with data available herein.
出处
《辽宁工业大学学报（自然科学版）》
1999年第S1期1-3,共3页
Journal of Liaoning University of Technology(Natural Science Edition)
关键词
多关节机器人
干涉
最大半径
robot with multiarticulus
interference
max radius
