期刊名称：IOP Conference Series: Earth and Environmental Science
印刷版ISSN：1755-1307
电子版ISSN：1755-1315
出版年度：2018
卷号：170
期号：4
页码：042166
DOI：10.1088/1755-1315/170/4/042166
语种：English
出版社：IOP Publishing
摘要：Robot working space is an important kinematic indicator. Exact computation of the boundary shape and volume or area of the manipulator workspace is very important for its optimum design and application. This paper describes the kinematics analysis of a 3-DOF manipulator and the calculation of its workspace. The kinematics model of the three degree of freedom (3-DOF) robot was set up with the D-H parameters method. The effectiveness of kinematics equations was verified by the Robotics Toolbox simulation of the MATLAB. The robotics workspace of the manipulator was analyzed and simulated based on the Monte-Carlo method and MATLAB software programming. The analysis results show that the manipulator's working space is well-knit and this method is feasible and practical, prove the trajectory planning of workspace, and can well perform task, which lay a foundation to further study of the trajectory planning and motion control.
