用CAD API自动验证6-6型机械臂的无碰撞球大小
Validation of collision-free spheres of Stewart-Gough platforms for constant orientations using the Application Programming Interface of a CAD software
- 通过调用CAD软件API自动更新机械臂姿态，遍历无碰撞球壳内样本点
- 检测每对连杆在各姿态下是否发生碰撞，确保球内无任何碰撞风险
- 方法通用性强，适用于任意空间并联机械臂，适合机器人安全分析
本文提出一种基于CAD软件API的方法，用于验证给定运动平台姿态下6-6型斯特凡-戈尔德平台机械臂（SGPM）的最大无碰撞球（CFS）尺寸。通过自动化方式利用API更新运动平台位置，在包围无碰撞球表面的壳体内采样多个姿态。对每个姿态，检查每一对连杆是否存在相互碰撞。若球内所有点均不导致连杆间碰撞，则该无碰撞球被判定为安全。该方法不仅能验证预计算的无碰撞球安全性，还可推广至任意空间并联机械臂的无碰撞球估计。
原文摘要 · Abstract (English)
This paper presents a method of validation of the size of the largest collision-free sphere (CFS) of a 6-6 Stewart-Gough platform manipulator (SGPM) for a given orientation of its moving platform (MP) using the Application Programming Interface (API) of a CAD software. The position of the MP is updated via the API in an automated manner over a set of samples within a shell enclosing the surface of the CFS. For each pose of the manipulator, each pair of legs is investigated for mutual collisions. The CFS is considered safe or validated iff none of the points falling inside the CFS lead to a collision between any pair of legs. This approach can not only validate the safety of a precomputed CFS, but also estimate the same for any spatial parallel manipulator.
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