| 摘要: |
| 利用几何法，对3-PCR并联机器人运动学方程进行了分析。选取了一定的参数，在三维软件INVENTOR里绘制出了相应的工作空间，通过分析单独支链的工作空间，最后确定了工作空间的包络面及包络线，并分析了该机构工作空间内的奇异性。 |
| 关键词: 几何法 3-PCR平移并联分拣机器人 工作空间 |
| DOI： |
| 分类号:TB486+.3; TP24 |
| 基金项目: |
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| Research on the Workspace of 3-PCR Translational Sorting Parallel Robot Based on Geometrical Method |
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SHANG Ji-zhong, CHEN An-jun
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Jiangnan University, Wuxi 214122, China
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| Abstract: |
| The kinematical equation of a 3-PCR parallel robot was analyzed in geometrical method. With certain parameters specified, the corresponding workspace was drawn out with a 3D software INVENTOR. By analyzing workspace of each limb, the faces and lines of the workspace boundary was determined and then the singularity of the workspace was discussed. |
| Key words: geometrical method 3-PCR parallel manipulator workspace |
