摘要
提出了一种新型的2TPT-PTT三自由度并联机器人。对机器人工作空间边界面进行了研究,仿真出其工作空间。研究结果表明:该机构工作空间大,且不存在空洞,为并联机器人的机构设计提供了一定的理论基础。
This paper present a novel2TPT -PTT 3-dof in parallel manipulator.The boundary surface of parallel manipulator was studied and workspace was imulated.Its work space is large and no empty hole.These results are dbelieved to be the theory base of parallel manipu lator design.
出处
《机械设计与制造》
2002年第4期69-70,共2页
Machinery Design & Manufacture
