【摘要】 3自由度并联机器人控制简单，结构紧凑，便于设计和研究。为了探究并联机器人关节配置对工作空间大小的影响，以3-RSS与3-RUU两个Tau变种构型并联机器人为研究对象，分别用球铰和虎克铰进行分析，求解了3-RSS与3-RUU同轴驱动布局并联机器人的工作空间。首先，建立机器人简化模型，对其正向运动学进行求解；接着，分析了球铰与虎克铰的运动范围，以此作为关节的约束条件，求解了3-RSS和3-RUU同轴驱动布局并联机器人的三维工作空间，得出工作空间的边界。分析结果表明，同等尺寸大小的3-RUU同轴驱动布局并联机器人比3-RSS同轴驱动布局并联机器人具有更大的工作空间。为后续不同并联机器人的关节选型和工作空间的研究提供了理论和技术的支持。更多还原

【Abstract】 The three degrees of freedom parallel robot with is simple to control, convenient for design and research and has compact structure. In order to study the influence of parallel robots’ joint configuration on the size of workspace, two Tau variant parallel robots, 3-RSS and 3-RUU, are taken as the research objects. Then,the spherical hinge and the Hooke hinge are respectively used for analyzing and solving the workspace of the 3-RSS and 3-RUU coaxial drive layout parallel robots. Firstly, a simplified model of the robot is established, and its forward kinematics is solved. Then, the motion range of spherical hinge and Hooke hinge are analyzed as the constraints of the joint so that the three-dimensional workspace of 3-RSS and 3-RUU coaxial drive layout parallel robots is analyzed so as to obtain the workspace boundary. The analysis results show that the 3-RUU coaxial drive layout parallel robot of the same size has a larger workspace than the 3-RSS coaxial drive layout parallel robot. It provides theoretical and technical support for subsequent research on joint selection and workspace of different parallel robots.更多还原