中文摘要：

由于绳牵引并联机构与等价的无摩擦点接触抓取模型存在结构相关性和力传递相似性，所以分析多指手抓取中一个位形的瞬时特性的很多工具，可以用来研究绳牵引并联机构的相关问题．利用平面对心抓取定理与Ebert—Uphoff提出的相关定理，确定2—2型1R2T机构的力封闭工作空间边界．文中指出，Canny关于3维封闭抓取的研究工作对确定3—2—2型，3—3—2型和3-3—3型的3R3T机构的力封闭工作空间边界有指导意义，但两者之间的真实关系还有待于进一步深入研究．

英文摘要：

Because there exist architecture correspondences and similarity of force transmission between a wire-driven parallel manipulator and its corresponding grasp with frictionless point contacts, many tools from grasping that analyze instantaneous properties of a configuration should carry over to wire-driven parallel manipulators and vice versa. A method using planar antipodal grasp theorem and another theorem from it proposed by Ebert-Uphoff to determine the boundary of force closure workspace for wire-driven parallel manipulators with 1R2T class with 2-2 type has been demonstrated. Finally, it has been presented that research on 3 dimensional force closure grasp by Canny may be helpful to determine the boundary of force closure workspace for wire-driven parallel manipulators with 3R3T class with 3-2-2 type, 3-3-2 type and 3-3-3 type, but the real relationship between them is still underway.