Table 3 The influence of the failure position of the actuating joint on the workspace
From: Kinematics Analysis and Singularity Avoidance of a Parallel Mechanism with Kinematic Redundancy
The position where the actuating joint fails (mm) | All points in the workspace | Number of workspace points when P1 fails | Number of workspace points when P1 and P2 fail simultaneously |
|---|---|---|---|
Li∈[50,100] | 4259 | 465(10.91%) | 85(1.9%) |
Li∈[100,150] | 4259 | 1264(29.68%) | 505(11.86%) |
Li∈[150,200] | 4259 | 2530(59.40%) | 1819(42.71%) |