The Reachable Workspace Analysis of a Kind of 4-DOF Parallel Mechanism Based on Constraints

摘要

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, gives several figures of workspace with different parameters and then analyses it finally.