赵铁石, 赵永生, 黄真. 欠秩并联机器人能连续转动转轴存在的物理条件和数学判据[J]. 机器人, 1999, 21(5): 347-351..
ZHAO Tie-shi, ZHAO Yong-sheng, HUANG Zhen. PHYSICAL AND MATHEMATICAL CONDITIONS OF EXISTENCE OF AXES ABOUT WHICH PLATFORM OF DEFICIENT-RANK PARALLEL ROBOTS CAN ROTATE CONTINUOUSLY. ROBOT, 1999, 21(5): 347-351..
Abstract：This paper present the physical conditions and mathematical criteria of the existence of axes about which the platform of the deficient-rank parallel robots can rotate continuously. That is the power of constraining force and the rate of that power both are zero simultaneously. The instantaneous and continuous rotating axes of a deficient-rank 3-RPS parallel platform robot and a deficient-rank 3-RPS parallel pyramid robot are discusses.
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