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《Journal of Mechanical & Electrical Engineering》 2010-08
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Analytic method of the workspace of an incompletely restrained wire-driven parallel mechanism

SANG Jian,CHEN Zhi-ping,ZHANG Ju-yong,LIU Rui(College of Mechanical Engineering,Hangzhou Dianzi University,Hangzhou 310018,China)  
According to the structure of a 6 DOFs incompletely restrained parallel mechanism(IRPM) driven by six wires and designed in the system of optical wire-driven hanging bench,a proper way applying theory of dimension reduction to get the workspace of this mechanism was presented.Then a parameter ks used to evaluate the quality of the workspace was proposed,some factors which affect the mechanism's workspace containing structure parameter of mechanism and preload index were also analyzed by Matlab simulation.Finally,the optimum parameters and the largest workspace are gotten by many times calculation.The conclusion will be based for the further testing experiment.
【CateGory Index】: TP242
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