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This analyze employs a numerical method for pinpointing the workspace boundaries on the hybrid planar-tripod mechanism manipulator. As being the Formerly outlined, this hybrid system is manufactured from one particular planar and just one tripod system, Hence the workspace Assessment of your entire mechanism might be separated into two distinct scientific tests. Thus, the workspace in the system is revealed in two distinctive coordinate programs: (x，y，γ）和（α，β，z），其分别与所述平面和三脚架的机制相关联。一系列的平移运动的（x，y，z）和the orientation angles (α，β，γ）被离散成具有所希望的分辨率的采样点。对于每一个点，需要两个步骤。首先，相应的机构的输入变量（q1，…,q6) are calculated utilizing the inverse kinematics product specified by equationsyabo sports 一个ñdyabo sports 。随后，q一世values are checked to ensure They may be within the stroke range limits presented by [q一世米一世ñ;q一世米一个x]。其次，如果采样点被认为是工作空间内，那么它需要确定是否所有被动关节包括转动关节Çķ和球形接头dķ，是他们的限度内。的单位向量垂直于MP1和沿着所述球形接头的轴分别表示为ñrk一个ñdñsk（ķ = one, two, three). Then the constraints equations of revolute joints Cķ和球形接头dķC一个ñbe expressed as:<br><br>在这项研究中，所提出的混合机理是两种不同的并行体系结构的组合。它由被串联连接在所示的一个平面并联机构和一个空间三角架机构yabo sports 一个。该planar parallel mechanism is a double triangular architecture that has been introduced by Daniali et al. in 1993 [yabo sports ]。It's got two triangular platforms: one particular is set and considered as the architecture base and just one is often a movable platform. The mobile platform is connected to the fixed System by threeP[RP升egs. Just about every of these has just one Lively prismatic joint connected to the edge of preset triangular System and one passive prismatic joint connected on the sting of mobile triangular platform. Both equally prismatic joints are linked by a passive revolute joint. This planar mechanism gives two linear DoF and 1 angular DoF. 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