Abstract：Concept of manipulator solution space is first presented in this paper.By applying screw theory,we derive a sufficient and necessary condition of manipulators with three degrees of freedom locating on the boundary surfaces of solution-space.That is the screws representing the instant motion of pairs must be reciprocal to ascrew passing through the centre of the terminal with zero screw parameter.Thenthe equation of the generator of manipulator solution-space boundary surfaces arederived.Next,the relationship between solution-space boundary surfaces and singularity is discussed.And some examples of mapping are given.
[1] Gupta K C,On the nature of robot workspace,The International Journal of Robotics Research,1986; 15(2):112-121
[2] HSU Mingshu,Dilip-Kohli, Boundary faces and accessibility regions for regional structares of manipulators,Mechanism and Machinery Theory, 1987; 22(3):227-289
[3] Kumar A, Waldron K J.The workspace of a meaclianical manipulator,ASME J Mech Design,1981; 103;665-672
[4] 张启先.空间机构分析与综合(上册).北京,机械工业出版社,1984
[5] Hunt K H,Kinematic geometry of mechanisms,Oxford, Clarendon Press, 1978
[6] Sugimoto K, Duffy J, Hunt K H, Special tonfiguration of spatial mechanisms and robot arms, Mech and Mach Theory,1982;17(2):119-132
[7] Lai Z C, Yang D C H, A new method for the singularity analysis of simple six-link manipulators,The international Journal of Robotics Research, 1986; 5(2):66-74
[8] 朱木富.机械手解空间的研究.吉林工业大学硕士学位论文,1988
