| 一种3-PRS并联机器人的姿态空间分析 |
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| 引用本文： | 莫贤,陈文家,陈淑艳.一种3-PRS并联机器人的姿态空间分析[J].扬州大学学报(自然科学版),2009,12(3). |
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| 作者姓名： | 莫贤 陈文家 陈淑艳 |
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| 作者单位： | 扬州大学,机械工程学院,江苏,扬州,225009 |
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| 摘 要： | 介绍一种3-PRS并联机器人的结构布局特点,基于其位置反解及结构约束条件,绘制其姿态空间的三维视图,并定量分析该并联机器人的机构尺寸参数对姿态空间范围的影响,为该并联机器人的设计与实用化提供理论依据.
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| 关 键 词： | 3-PRS并联机器人 姿态空间 定量分析 |
Analysis on working space of a 3-PRS parallel manipulator |
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| MO Xian,CHEN Wen-jia,CHEN Shu-yan.Analysis on working space of a 3-PRS parallel manipulator[J].Journal of Yangzhou University(Natural Science Edition),2009,12(3). |
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| Authors: | MO Xian CHEN Wen-jia CHEN Shu-yan |
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| Abstract: | This article introduces structural configuration characteristics about a 3-PRS parallel manipulator and draws the three dimensional views of posture working space based on its position reversal solution and the structural restraint condition. Quantitatively analyzes the impact of its organization size parameter on the working space size and provides the theoretic basis for this parallel manipulator design and the practical application. |
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| Keywords: | 3-PRS parallel manipulator posture workspace quantitative analysis |
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