Table 2 Changes in the workspace of the mechanism
From: Kinematics Analysis and Singularity Avoidance of a Parallel Mechanism with Kinematic Redundancy
zp (mm) | All points in the workspace | Number of workspace points when P1 fails | Number of workspace points when P1 and P2 fail simultaneously |
|---|---|---|---|
210 | 102 | 62 (60.78%) | 33 (32.35%) |
230 | 144 | 81 (56.25%) | 34 (23.61%) |
250 | 239 | 96 (60.78%) | 42 (32.35%) |
270 | 237 | 73 (30.80%) | 23 (9.70%) |
290 | 174 | 59 (33.90%) | 16 (9.19%) |
310 | 60 | 34 (56.67%) | 16 (26.67%) |