Title: Workspace Analysis for 6-PP~+S Parallel Mechanism with Perpendicular Structure
Abstract: To simplify the mechanism kinematics modela,type of 6-PP+S parallel mechanism with perpendicular structures was proposed and the kinematics equations were built with the method of closed vectors.Based on the kinematics equations and the constraint of joints structurest,he constraint model of its mobile platform workspace was given and the shape of the workspace was obtained.Then the workspace in different orientations was derived with the given mechanism parameters.How the change of mechanism parameters influences the workspace was further studied.The research can be used for the application of the 6-PP+S parallel mechanism.
Publication Year: 2009
Publication Date: 2009-01-01
Language: en
Type: article
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