A solution to non-singularity workspace of the parallel mechanism is presented. The relation of the differential motion and the restrictions of configuration and joint was analyzed for a singular 3-RPS parallel mechanism. The distinguish equation and curve surface equation were gained for the mechanism. The boundary of workspace was explored and the relation of singular configuration and workspace was analyzed synthetically. Configuration parameter and scope of joint variety were selected rationally in order to obtain workspace of non-singular configuration.
参考文献
相似文献
引证文献
引用本文
鲁开讲,牛禄峰,刘亚茹,徐新博.3-RPS并联机构奇异位形及工作空间研究[J].农业机械学报,2007,38(5):143-146.[J]. Transactions of the Chinese Society for Agricultural Machinery,2007,38(5):143-146.