Taken into account of the constraint of joint angle, the closed-form workspace equation was given according to its characteristic.
最后根据该机构的工作空间的特性，考虑了铰链摆动角的限制条件，给出了工作空间的解析式。
Taken into account of the constraint of joint angle, the closed-form workspace equation was given according to its characteristic.
最后根据该机构的工作空间的特性，考虑了铰链摆动角的限制条件，给出了工作空间的解析式。
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