Analysis on the Design Parameter of Restraint Organization of One Kind of Parallel Kinematic Machine to the Workspace Influence

This paper take one kind of 3-UPS PKM(parallel kinematic machine) as the research object,has studied this PKM workspace characteristic,and separately analyzed the restraint organization the variation in the length of various rods and the range of variation in the corner of various joints to the workspace shape influence situation.Through studies it to restraint organization the design parameter to the machine workspace influence obtained conclusion,regarding determined this PKM the workspace shape,as well as carries on the machine according to the workspace size the structure size design all to have the vital significance.