Workspace Analysis and Simulation of 3-PCR Parallel Mechanism
Inverse position equations of 3-PCR parallel mechanism were obtained by coordinate conversion method, based on the influence factors to the workspace of parallel mechanism, workspace volume under a certain size was worked out with method of polar coordinates boundary searching. According to mathematical model, using MATLAB software, solid figure and cross-section diagram of the mechanism in a certain range of size were presented. Finally, characteristics of workspace were analyzed through diagrams. Workspace analysis can provide necessary preconditions for the design and manufacture of parallel mechanism.
Long Chen, Yongkang Zhang, Aixing Feng, Zhenying Xu, Boquan Li and Han Shen
X. Q. Hao et al., "Workspace Analysis and Simulation of 3-PCR Parallel Mechanism", Applied Mechanics and Materials, Vol. 43, pp. 137-141, 2011