STUDY OF WORKSPACE IN PARALLEL ROBOT MANIPULATOR

The workspace of parallel robot manipulator is studied in this paper. As the method of input-trans-formation is used in algorithm, the optimization procedure is simplified. In the paper, the workspace sec-tions of parallel robot manipulator are analyzed, and the relation between size and workspace is discussedin detail. The method of workspace enlargement obtained in this paper is significant for designing and us-ing parallel robot manipulator.