The Relationships between the Shape of the Workspace and GeometricalDimensions of Parallel Manipulators

Abstract

Abstract In this paper, a new simulation program for the workspace analysis of parallel robots is presented. The system consists of modules, which enable a complex study of the parallel structures. A special method for generating the workspace of the parallel structures is used. The simulation program offers the possibility to generate automatically the virtual model of the parallel robot using the facilities of a 3D modeling software. The structure geometric parameters, which could be modified within the modeling software, influence the simulation environment. These facilities enable to establish the relationships between the workspace shape, elements links and geometrical parameters of the structure. (© 2004 WILEY‐VCH Verlag GmbH & Co. KGaA, Weinheim)