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工作空间的研究是平面闭链机器人的基本问题之一。应用隐函数定理，推导出平面闭链五杆机构柔性工作空间边界的条件，即输出杆与相连的连架杆重合或拉直，以及另一连架杆与相连的连杆重合或拉直。然后利用两个开链二杆的工作空间的交集和四杆机构连架杆的转动范围，分析平面闭链五杆机构满足工作空间边界条件的边界曲线的构成。在此基础上建立相应的数学模型，提出平面闭链五杆机构的工作空间求解算法。最后，通过算例验证了数学模型的正确。
Work space research is one of the basic problems of planar closed-chain robots. The implicit function theorem is used to derive the condition of the flexible working space boundary of a five-bar mechanism with closed-end, that is, the output bar is overlapped or straightened with the connected bar, and the other bar is overlapped or straightened with the connected bar. Then, by using the intersection of two working spaces with two open chains and the rotating range of the four-bar linkage, the boundary curve of the planar closed five-bar linkage to meet the working space boundary conditions is analyzed. Based on this, a corresponding mathematical model is established, and a working space solution algorithm for planar closed-chain five-bar mechanism is proposed. Finally, an example is given to verify the correctness of the mathematical model.