Attentions are widely paid to the application of parallel mechanism for its lightness, high rigidity, high speed and high precision. Additionally, the inverse kinematics is also easy to be analyzed. It is important to clarify the volume and shape of the working space to avoid completely the self-interference and singular point occurred among the elements. This research work, taking HexaM machine developed by Toyoda Machine Works as the model, is to make clear the relationship between the working space and the position of the links. By detecting the interference and the singular point, mathematical formula and computer software to analysis the working space of the tool are developed. The results of simulation and experiment show that the developed software is appropriate and the proposed formula is practical to express the relationship between the working space and the position of the links.
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