Workspace Analysis and Simulation of 3-PCR Parallel Mechanism

Xiu Qing Hao; Zong Gang Xu; Kai Yun Cai

doi:10.4028/www.scientific.net/AMM.43.137

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HomeApplied Mechanics and MaterialsApplied Mechanics and Materials Vol. 43Workspace Analysis and Simulation of 3-PCR...

Workspace Analysis and Simulation of 3-PCR Parallel Mechanism

Abstract:

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.