【摘要】 研究了 3- PTT空间并联微操作机器人机构的工作空间 ,分析了驱动杆伸长量和运动副转角等限制因素对工作空间的影响。通过圆柱坐标数值搜索算法求得工作空间的边界和体积 ,并通过计算机仿真给出了 3- PTT空间并联微操作机器人机构工作空间的三维可视化描述。更多还原

【Abstract】 Studied in this paper is the workspace of a 3-PTT parallel micromanipulator. Constraint factors, such as the maximum extension of actuators and the maximum revolving range of flexure hinges, are discussed. A cylinder coordinate numerical search approach is used for workspace determination. At the end of this paper, a computer simulation is presented to show 3 dimensional graphical description of the workspace.更多还原