摘要
对平面3自由度3-RPR并联机器人的工作空间的求解方法与性质进行了探讨。分析了3-RPR并联机器人工作空间的影响因素,以支腿长度约束、支腿与动平台交汇条件以及支腿与动平台夹角限制为约束条件,并采用快速极坐标搜索法确定了3-RPR并联机器人的工作空间。研究了构型参数与工作空间的关系。
The determination and features of workspace of the planar 3 DOF（degree of freedom） 3-RPR parallel manipulator are investigated.Firstly,the factors effecting its workspace are analyzed by taking the constrain of legs＇ length,the conditions of the legs crossing with the moving platform and the angle limitations between the legs and the moving platform as the constrains.Then with the fast polar coordinate searching method the workspace of the 3-RPR parallel manipulator is determined.And finally,the relations between configuration parameters and workspace are discussed.
出处
《电子科技》
2010年第10期114-117,127,共5页
Electronic Science and Technology
