Work space refers to the orientation mobilization of a specific part of the robot arm under certain conditions. The nature and size of the workspace reflect the size of the robot's working capacity. When understanding the robot's working space, pay attention to the following:
1) The working space represented in the general industrial robot clarification book refers to the scale that can be reached in space by the origin of the mechanical interface coordinate system on the wrist, that is, the scale that the center point of the flange at the end of the wrist can reach in space, rather than the scale that can be reached by the end actuator end. Therefore, in the design and selection, it is necessary to pay attention to the working space that the robot can actually reach after the end actuator of the device.
2) The working space provided in the robot clarification book is often less than the maximum space in the kinematic sense. This is because in the reachable space, the payload, the maximum speed and the maximum acceleration promised are different when the arm position is different, and the limit value of the maximum azimuth of the arm is generally smaller than that in other directions. In addition, there may be a problem of degree of freedom degradation at the maximum achievable space boundary of the robot, and the pose at this time is called singular position, and the degree of freedom evolution phenomenon will be shown in a considerable scale around the singular position, and this part of the working space cannot be used when the robot is operating.
3) In addition to the marginal working space, the industrial robot in practical application may also be constrained by the mechanical structure, and there is also an area that cannot be reached by the end of the arm in the working space, which is often called a void or cavity. A cavity is a completely enclosed space that cannot be reached by the end of the arm in the work space. Emptiness, on the other hand, refers to the space that cannot be reached at the end of the upper arm along the entire length around the shaft.
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