2003•Machinery Design and ManufactureRequires access

The reachable workspace analysis of a kind of novel hybrid 4-DOF parallel mechanism based on restrict

Mingyang Zhao

Abstract

Aimed at a novel 4-DOF parallel manipulator, the paper brings forward a grid approach which based on the inverse kinematics result to get its workspace. Analyses the kinematics of this kind of parallel manipulator, brings out the formula of the inverse kinematics, then programs with the Matlab, gives several figures of workspace with different parameters and then Analyses it finally.

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Available abstract

Key concepts: Workspace, Kinematics, Inverse kinematics, Mechanism (biology), Parallel manipulator, Computer science, MATLAB, Inverse