关键词: 保角变换, 工作空间, 机器人, 球面机构, 曲柄存在条件

Abstract: The workspaces, reachable workspace and dexterous worspace, of spherical 3-DOF serial manipulators are studied systematically. The equations of calculating the area of workspces are presented. Using the theory of Conformal Transformation, the planar figures of the workspaces are mapped. The Grashof-type conditions for spherical 4-bar mechanisms are obtained. The results are useful for the designers to design the spherical 3-DOF serial manipulators.

Key words: Conformal transformation, Grashof-type conditions, Manipulators, Spherical mechanisms, Workspace