蒲志新,王斌宇.基于Delaunay三角剖分的机器人工作空间体积求解[J].测控技术,2019,38(1):54-57
基于Delaunay三角剖分的机器人工作空间体积求解
Volume Solution of Robot Workspace Based on Delaunay Triangulation
  
DOI:10.19708/j.ckjs.2019.01.011
中文关键词:  并联机器人  Delaunay三角剖分  工作空间体积
英文关键词:parallel robot  Delaunay triangulation  volume of workspace
基金项目:
作者单位
蒲志新 辽宁工程技术大学 机械工程学院 
王斌宇 辽宁工程技术大学 机械工程学院 
摘要点击次数: 451
全文下载次数: 268
中文摘要:
      针对传统方法求解并计算并联机器人工作空间体积计算量大效率低的问题,采用Delaunay三角剖分法求取工作空间的体积。利用Matlab编程进行仿真,将Delaunay三角剖分法与子空间体积叠加法和微分法对比。结果表明,在相同的计算机配置下,采用改进的增量式Delaunay三角剖分的算法计算其体积值为62645×105 mm3,并耗时21 min;采用二值法计算其体积为62639×105 mm3,耗时27 min;采用微元法计算其体积值为62643×105 mm3,并耗时31 min。改进的增量式Delaunay三角剖分法提高了求取工作空间的体积的效率。
英文摘要:
      In order to solve the problem of large volume calculation and low efficiency in traditional methods, the Delaunay triangulation method is used to calculate the volume of workspace.The Delaunay triangulation method is compared with subspace volume superposition and infinitesimal methods by using Matlab programming for simulation.Under the same computer configuration,the results show that the volume value calculated by improved incremental Delaunay triangulation algorithm is 62645×105 mm3 and takes 21 minutes.The volume value calculated by binarization method is 62639×105 mm3 and takes 27 minutes.And the volume value calculated by infinitesimal method is 62643×105 mm3 and takes time 31 minutes.In summary,the improved incremental Delaunay triangulation method improves the efficiency of calculating the volume of working space.
查看全文  查看/发表评论  下载PDF阅读器
关闭