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Tham khảo tài liệu 'parallel manipulators towards new applications part 10', kỹ thuật - công nghệ, cơ khí - chế tạo máy phục vụ nhu cầu học tập, nghiên cứu và làm việc hiệu quả | 308 Parallel Manipulators Towards New Applications for parameters given robot in the context of industrial application. The workspace is primarily limited by the boundary of solvability of inverse kinematics. Then the workspace is limited by the reachable extent of drives and joints occurrence of singularities and by the link and platform collisions. The PKM mechanisms PRRRP and RPRPR realize a wide workspace as well as high-speed. Analysis visualization of workspace is an important aspect of performance analysis. A numerical algorithm to generate reachable workspace of parallel manipulators is introduced. Fig. 14. The GUI for calculus of workspace for the planar 2 DOF Parallel Kinematics Machine with variable length struts Fig. 15. The GUI for calculus of workspace for the planar 2 DOF Parallel Kinematics Machine with constant length struts In the followings is presented the workspace analysis of 2 DOF Bipod PKM. Case I Conditions qimin q2min b qimax b q2max b a for y 0 Optimal Design of Parallel Kinematics Machines with 2 Degrees of Freedom 309 Fig. 16. The workspace of the planar 2 DOF Parallel Kinematics Machine is shown as the shading region. b for X y X there exist two regions of the workspace Fig. 17. The workspace of the planar 2 DOF Parallel Kinematics Machine is shown as the shading region. Case II Conditions qimin q2min b qimax b q2max b a for y 0 Fig. 18. The workspace of the planar 2 DOF Parallel Kinematics Machine is shown as the shading region. 310 Parallel Manipulators Towards New Applications b for w y w there exist two regions of the workspace Fig. 19. The workspace of the planar 2 DOF Parallel Kinematics Machine is shown as the shading region. Case III Conditions qlmm q2mm b qỉmax b q2max b Fig. 20. The workspace of the planar 2 DOF Parallel Kinematics Machine is shown as the shading region. Case IV Conditions qlmin q2mm b q max b q2max b Fig. 21. The workspace of the planar 2 DOF Parallel Kinematics Machine is shown as the shading .
