STUDY OF THE KINEMATIC PROPERTIES OF A 3DOF MANIPULATION ROBOT USING COMPUTER GRAPHICS METHODS

摘要

Geometric methods are widely used in solving functional analysis problems. A large number of tasks described by functional dependencies can be reduced to a geometric formulation. A method of functional voxel modeling based on a linear approximation of the functional dependence under study is considered. The parameters of this approximation are considered as local geometric characteristics of the function under study. The method of functional voxel modeling allows us to calculate local geometric characteristics reflecting the characteristic features of the existing functional dependence and represent them with voxel structures. A graphical image corresponding to a geometric model and reflecting some of its properties based on local geometric characteristics is called a graphical M-image. An original approach for studying the kinematic properties of a 3DOF manipulative robot using computer graphics methods and tools is described. Graphical M-images of functions describing the kinematic properties of a manipulative robot were used to visualize local geometric characteristics. The software module RANOK 2D was used as a means of computer graphics, which allows creating M-images of functions of two variables. The graphical M-images of the functional dependence, which is an analog of the function obtained to calculate the velocity of a point selected at the final link of the kinematic structure of the studied manipulation system, are presented.