2010•Applied Mechanics and MaterialsRequires access

Workspace Analysis and Simulation of 3-PCR Parallel Mechanism

Xiu Qing Hao, Zong Gang Xu, Kai Cai

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.

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Key concepts: Workspace, Mechanism (biology), MATLAB, Computer science, Polar coordinate system, Geographic coordinate conversion, Position (finance), Boundary (topology)