【摘要】 分析了复合球副的结构及其工作空间,研究了复合球副结构夹角对6-RSS并联机构工作空间的影响。针对复合球副极限转角条件下无法满足并联机构工作空间指标要求这一问题,进行了复合球副的安装角度的优化设计,使得6-RSS并联机构工作空间不受复合球副工作空间的限制,并联机器人的工作空间算法限制因素减少、运动控制算法简单,提高了并联机器人的机构性能。更多还原

【Abstract】 This paper analyses the mechanism and workspace of compound spherical joint,studies the relationship between 6-RSS parallel mechanism workspace and the mechanism angle of compound spherical joint,and optimizes the setting angle of compound spherical joint to satisify the workspace of the parallel machanism which cannot be resolved by the limit angles of compound spherical joint.By doing this,the workspace of the 6-RSS parallel mechanism,is not constrained by the workspace of compound spherical joint,both the forward and backward kinematics become easier, and the performance of 6-RSS parallel mechanism is improved.更多还原