Parallel Mechanism with Adjustable Link Parameters

This paper proposed an adjustable parallel mechanism, which can change its workspace by change of link parameters. Firstly, adjustable parameters and adjusting methods are classified and discussed. Secondly, the workspace of HEXA type with adjustable middle links is numerically analyzed. The mechanism is changed translationally and rotationally and the volumes and centroids of its translational and rotational workspace are compared. The analyses conclude that adjusted mechanism is superior to non-adjusted mechanism in terms of workspace. Finally, a prototype of an adjustable 5-bar-link mechanism is introduced for an instance of simple adjustable parallel mechanism.