The reachable workspace analysis of a kind of 4-DOF parallel mechanism based on constraints

Aimed at a novel 4-DOF parallel manipulator, the paper brings forward a grid approach which is based on the inverse kinematics result to get its workspace. The paper analyses the kinematics of this kind of parallel manipulator, brings out the formula of the inverse kinematics, then programs, gives several figures of workspace with different parameters and then analyses it finally.