Use of the chord method for analyzing workspaces of a parallel structure mechanism

Abstract

The size and shape of the mechanism working area are one of the most important criteria of its performance. Known approaches to the analysis of the workspace, such as the geometric method or the discretization method, have a number of features that limit their effective application. This paper considers the optimization chord method for determining the working areas of various types on the example of a planar parallel mechanism. The simulation results for maximum, constant orientation and dextrous workspaces are presented.