The position and workspace are analyzed, and the outlines drawing of position and orientation workspace are plotted. The effects of main structure parameters to the volume of workspace are studied.

对这种宏动平台的位置与工作空间问题进行了分析，绘制了位置和姿态工作空间轮廓图，定量分析了各主要结构参数对工作空间大小的影响。

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Base on a new describing method of the orientation-workspace, a new arithmetic of the orientation-workspace and the singular orientation-space of the parallel manipulator is developed.

在给出一种姿态空间描述方法的基础上，提出了一种姿态工作空间和奇异姿态空间的求解算法。

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