摘要
研究了新型三自由度的３ － Ｒ Ｐ Ｓ并联角台机构，根据其结构特点建立了位移反解方程；并且在全面考虑约束条件的前提下，利用数值解法求得了它的工作空间边界点，描绘了其工作空间典型截面的边界轮廓曲线和立体图。
According to the characteristics of a three degree of freedom 3 RPS in parallel actuated pyramid mechanism, the inverse kinematics equations are established. Considering all the physical constraints imposed by the limits of the ball joints and the link length etc., some typical sections of the workspace are described using the method of the numerical computing.
出处
《机械传动》
CSCD
北大核心
1999年第3期1-3,共3页
Journal of Mechanical Transmission
基金
863 基金
教育部博士点基金
