평행기구 머니플레이터의 작업공간에 대한 연구

A double parallel manipulator has only two or three links in each parallel mechanism. this reduces link interferences so that we expect a large workspace. To prove this property, this paper analyzes the workspace of a double parallel manipulator and compare it with that of a Stewart Platform. the analysis is separately conducted in a positional and an orientational division. For each, we obtain the workspace accrding to the ranges of lengths of links and show the volume in a cartesian coordinate or the angular ranges in yaw and pitch motions.