并联杆系机床工作空间分析

Workspace analysis of the parallel linkage machine tool

本文分析了并联杆系机床的工作空间，给出了影响工作空间的基本约束条件，证明了运动可控制条件和力非奇异条件是完全一致的，另外，本文还提出了一种将６维形式的工作空间以３维形式表示的方法。

Workspace analysis of the Parallel Linkage Machine Tool is carried out,3 chief constraints are considered:i)motion controllability constraint,ii)force singularity constraint and iii)geometric constraint.The proof is given that constraint i)and ii)are completely equivalent.Further,a method is presented to show the 6 dimension formed workspace directly in 3 dimension way.