Workspace Analysis and Application of the PRRRP Decoupled Parallel Mechanism

摘要

The workspace of parallel mechanism determines the work region of a mechanism and directly correlates with the synthesis of the mechanism for desired performance characteristics. This paper investigates the issues of decoupled properties of the PRRRP parallel mechanism. Based on the geometrical relation among the parameters, the reachable workspace atlases are drawn. The closed-form solutions are presented according to the decoupled properties of the parallel mechanism. The relationships are analyzed among the parameters. The oscillating angle of the output link is analyzed and the relationships are given. Based on those foundations, the optimized structure is presented. The optimized mechanism can be used as plating and carving machines. The experiment verifies the correctness and effectiveness of the method.