Trong thế kỷ 20, các kỹ sư đã làm chủ gần như tất cả các hình thức kiểm soát chuyển động và đã chứng minh robot và máy móc có thể thực hiện hầu như bất kỳ công việc được coi là quá nặng, quá mệt mỏi, quá nhàm chán hoặc quá nguy hiểm và có hại cho con người. Con người quyết định thực hiện nhiệm vụ được tự động sử dụng công nghệ cảm biến tiên tiến chẳng hạn như thị giác máy, quét 3D và một loạt lớn các cảm biến lân cận không tiếp xúc. Các lĩnh vực công nghệ liên quan. | 280 Industrial Robotics Theory Modelling and Control Workspace atlas To apply a specified robot in practice we usually should determine the link lengths with respect to a desired application. This is actually the so-called optimal kinematic design parameter synthesis of the robot. In such a process one of the most classical tools that has been using is the chart. Chart is a kind of tool to show the relationship between concerned parameters. As it is well known the performance of a parallel robot depends not only on the pose of the end-effector but also on the link lengths dimensions . Disregarding the pose each of the links can be the length between zero and infinite. And there are always several links in a parallel robot. Then the combination of the links with different lengths will be infinite. They undoubtedly have different performance characteristics. In order to summarize the characteristics of a performance we must show the relationship between it and geometrical parameters of the parallel robot. To this end a finite space that must contain all kinds of robots with different link lengths should be first developed. Next is to plot the chart considering a desired performance. In this paper the space is referred to as the design space. The chart that can show the relationship between performances and link lengths is referred to as atlas. Development of a design space The Jacobian matrix is the matrix that maps the relationship between the velocity of the end-effector and the vector of actuated joint rates. This matrix is the most important parameter in the field. Almost all performances are depended on this parameter. Therefore based on the Jacobian matrix we can identify which geometrical parameter should be involved in the analysis and kinematic design. For the parallel robot considered here there are three parameters in the Jacobian matrix see Eq. 17 which are R1 R2 and R3. Theoretically any one of the parameters R1 R2 and R3 can have any value .
