机械制造与自动化2013，Vol.42Issue(1)：143-144,189,3.
六自由度3-PRPS并联机器人工作空间分析
Workspace Analysis of 6-DOF 3-PRPS Parallel Robot
摘要
Abstract
In this paper, a 6-DOF 3-PRPS parallel robot is chosen as the study object. According to its mechanical characteristic, this paper analyses the inverse kinematics of the robot. On the basis of the inverse kinematics, the workspace under a certain orientation is determined by the search method, which satisfies the constraint condition of the parallel robot. The influence of the ratio p of the upper and down platform on the workspace is studied under the conditions of the constraints and the given ball joints installation pattern.关键词
并联机器人/运动学/工作空间/约束条件Key words
parallel robot/ kinematics/ workspace/ constraint condition分类
信息技术与安全科学引用本文复制引用
黄晓宾,郭钢..六自由度3-PRPS并联机器人工作空间分析[J].机械制造与自动化,2013,42(1):143-144,189,3.
