| 3-RRR平面并联机器人的灵活工作空间 |
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| 引用本文： | 崔建昆. 3-RRR平面并联机器人的灵活工作空间[J]. 上海理工大学学报(社会科学版), 2005, 27(4): 365-368,372 |
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| 作者姓名： | 崔建昆 |
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| 作者单位： | 上海理工大学机械工程学院,上海 200093 |
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| 摘 要： | 通过对3-RRR平面并联机器人分支运动链子工作空间的分析，提出了由定姿态工作空间求解各种灵活度要求下工作空间的方法，对机器人的工作空间和灵活性问题进行了系统研究，并探讨了机器人几何参数和子工作空间内空洞时机器人灵活性的影响。
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| 关 键 词： | 并联机器人 工作空间 灵活性 |
On the dexterous workspace of 3-RRR planar parallel manipulator |
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| Cui JianKun. On the dexterous workspace of 3-RRR planar parallel manipulator[J]. Journal of University of Shanghai For Science and Technilogy(Social Science), 2005, 27(4): 365-368,372 |
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| Authors: | Cui JianKun |
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| Abstract: | Systematic study on the dexterous workspace of 3-RRR planar parallel manipulator has been made on base of analysis of the sub-workspaces of branch kinematic chains. A method is set up to calculate the workspace on different dexterous requirement in the light of the workspace under fixed orientation, The influences on the dexterity of geometric parameters as well as hole inside the sub- workspace are also discussed. |
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| Keywords: | parallel manipulator workspace dexterity |
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