The workspace of similar platform 3upu is the workspace intersection of three openchains, which is a cone approximately.
相似平台3upu并联机构工作空间为三个开式运动链工作空间的交集,近似为一圆锥体。
3
The basic thought is that the shaking force complete balancing of planar linkage is reduced to the mass moment substitution of two pairs link and planar openchains.