Workspace and kinematic structure analysis of a 6-DOF Lambda parallel kinematic machine

This paper presents workspace and kinematic analysis of a parallel machine based on the Lambda mechanism. The considered has six degrees freedom (DOF), achievable with actuated translation joints. includes definition every active part machine, as well or passive joint used to connect parts. mathematical model is created for better understanding machine's operation. proposed inverse equations, whose solving first step in analysis. In this case, offered active-joint variables, variable result one equation. Verification equations been done analytically, using MatLab software CAD/CAM system. Workspace analysis, most important parameters main topic paper. case two approaches are given. determine second total orientation machine. Polar coordinates simplify process