摘要
以反螺旋理论分析了作为机器人肩关节的并联球面３－ＲＲＲ机构，及３－ＲＰＳ，３－ＲＲＳ，３－ＣＳ，３－ＰＲＳ和３－ＴＰＴ等五种并联角台机构，得到一些有意义的机构性质．
This paper studies the kinematic characteristic of several three-degree-of-freedom(DOF) pyramid parallel mechanisms by using the anti-serew theony. First the robotshoulder 3-RRR mechanism is studied, then the 3-RPS, 3-RRS, 3-CS 3-PRS and 3-TPT mechanisms are analyzed some interesting features of mechanisms are obtained.
基金
国家自然科学基金
