3－TRS型机器人的操作能力分析

The manipulating ability analysis of 3-TRSrebot

操作能力是机器人的基本运动几何特性之一，它反映了机器人运动控制的难易程度，本文通过速度反解得到了３－ＴＲＳ型并联机器人的雅可比矩阵，进而通过分析它的位置，姿态和综合操作度。

Manipulating ability is one of the basickinematic geometrycharaacteristics of robot , it reflectsthe extent of difficulty on the movement control ofrobot.By means of the inverse velocity analllysis this pa-per obtained the gacobin matrix for 3-TRS parallel ro-bot and then through the analysis of its position , postureand synthesized manipuiatability the way for a kind ofchecking on the manipulating ability of parallel robot hasbeen found out.