Workspace analysis of a parallel kinematic machine with multi-motion modes
A new type of prismatic-joint-actuated parallel kinematic machine(PKM)is introduced to meet the great demand of automation equipment in industry.The PKM owns multi-motion modes and a large workspace,which can be applied to drilling,assembling and 3D detection.In order to analyze the workspace of the PKM,a general kinematic model is established by the closed-loop vector.Based on the proposed kinematic models and considering some constraint conditions inclu-ding stroke of mobile agents and limited angle of universal joints,the reachable workspace of the PKM under different motion modes is searched based on the space search method.Results show that the reachable workspace of PKM is continuous and there is no empty hole,which can provide important guidance for parameters design and practical application of the robot.
NETL
NSTL
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