一种并联机构最大内切工作空间的几何求解

Geometric Description of the Maximum Inscribed Workspace for a DELTA Parallel Robot

通过研究一种基于外副驱动的ＤＥＬＴＡ并联机构工作空间的几何求解方法，提出该机构工作空间的最 大内切工作空间的概念，给出任意工作空间截面上最大内切工作空间的内切半径，并以实例给出该机器人最大内 切工作空间的几何形状。

In this paper, the geometric description of the workspace for a DELTA parallel mechanism is dicussed. Espe cially, the conception of the maximum inscribed workspace for the mechanism is proposed, and the inscribed radius of the workspace on a workspace section is presented. The shape of the workspace is given by an example