%0 Journal Article
%A SHEN Xuyang1
%A HOU Zhili2
%A QIN Huibin1
%A WU Xiao1
%T Three Dimensional Helical Scanning CAD for Workspace of Planar Parallel Mechanism
%D 2019
%R 10.3778/j.issn.1002-8331.1806-0232
%J Computer Engineering and Applications
%P 256-260
%V 55
%N 1
%X In view of the difficulty of solving the workspace of the planar parallel mechanism without singularity position, the tedious process and the large amount of calculation, a three-dimensional spiral scanning method for the working space of planar parallel mechanism which bases on CAD is proposed. The planar parallel mechanism of n degree is decomposed into n branch chain for independent analysis. The reachable area of the end of each branch chain is obtained, and the intersection of all the reachable area of the branch chain is the workspace of the planar parallel mechanism. The model of planar parallel mechanism is established by using SolidWorks software, and the geometric feature is processed. The solution process is solved by automatic solver. The solution process is graphed, and the non singular position workspace of the coaxial layout 5R mechanism and the planar 3-RPR parallel mechanism is quickly obtained. The solution is verified by the kinematics experiment of the coaxial layout of the 5R machine.
%U http://cea.ceaj.org/EN/10.3778/j.issn.1002-8331.1806-0232