摘要
提出一种球坐标搜索法 ,对 3 -RPS并联机构进行了工作空间分析。利用分层处理方法将工作空间划分为多个子空间 ,利用拟球坐标搜索法确定子空间的边界区域 ,并且对整个工作空间进行了定量计算。该方法有效地提高了工作空间分析的效率和简易性。
This paper suggests a sphere coordinate searching method which can be used to analyze the workspace of the 3 RPS parallel mechanism. The parting layer treating method is used to divide the workspace into several sub workspaces. Also,the sphere coordinate searching method is adopted to determine the border regions,and the whole workspace is computed quantitatively. So,with this method,efficiency and simplicity of workspace analysis can be enhanced effectively.
出处
《西安理工大学学报》
CAS
2001年第3期239-242,共4页
Journal of Xi'an University of Technology
基金
国家自然科学基金资助项目 (5 0 0 75 0 69)
关键词
并联机构
工作空间
球坐标搜索法
parallel mechanism
workspace
sphere coordinate searching method
