摘要
给出了不同机构工作空间的概念.定义了由灵活特性,即雅可比矩阵的条件数决定的灵活工作空间,作为可达工作空间的子空间,并且分析了RPS型并联机构的灵活工作空间.给出了当坐标参数变化时,不同的工作空间的变化图.
A variety of definitions of the workspace of a mechanism was found in the literature. The dexterous workspace is defined as a subspace of the reachable workspace having an adequate performance of a dexterity measure, e.g. the dexterous workspace of 3dof RPS parallel mechanism is analyzed. In order to study the changes of the workspace as the coordinate parameters are changed, the plot of the dexterous workspace is presented.
出处
《湖南大学学报（自然科学版）》
EI
CAS
CSCD
北大核心
2003年第1期58-61,共4页
Journal of Hunan University:Natural Sciences
