3R轴操作手的比较分析
Analyse Comparative des Manipulateurs 3R à Axes Orthogonaux
摘要：
一类在第三体上无偏置的3R正交机械臂可划分为9个工作空间拓扑。工作空间的特点是在一个半横截面的奇异曲线。工作空间拓扑由出现在这些奇异曲线上的尖点和节点的数量定义。基于这种分类，我们通过与关节空间相关的条件数以及具有四个逆运动学解的区域与包含所有工作空间的球体相比的比例来评估这些机械手。第二个性能数字与工作空间有关。最后确定了具有最佳性能数值的机器人所属的工作空间拓扑。
英文摘要：
A family of 3R orthogonal manipulators without offset on the third body can be divided into exactly nine workspace topologies. The workspace is characterized in a half-cross section by the singular curves. The workspace topology is defined by the number of cusps and nodes that appear on these singular curves. Based on this classification, we evaluate theses manipulators by the condition number related to the joint space and the proportion of the region with four inverse kinematic solutions compared to a sphere containing all the workspace. This second performance number is in relation with the workspace. We determine finally le topology of workspace to which belong manipulators having the best performance number values.
机构、总结、中文摘要均由AI分析而来，可能存在错误，请以论文正文为准。
