By adopting the partial coordinates system and the turning angle of globe hinge the position of moving platform was described, and the influence on working space of parallel robot affected by factors of turning angle of motion pair, rod length and interfe
By adopting the partial coordinates system and the turning angle of globe hinge the position of moving platform was described, and the influence on working space of parallel robot affected by factors of turning angle of motion pair, rod length and interfe
摘要选用局部坐标系和球铰的转角描述了动平台的位置，分析了运动副转角、杆长、支链干涉等因素对并联机器人工作空间的影响。