By rigidizing the input joints, all possible combinations of drive selecting for the 4-PPPS parallel\nmechanism are analyzed based on the screw theory in this paper, and the five of them are proved\nto be reasonable. Then choosing the one as mechanical actuators, the workspace of the 4-PPPS\nparallel mechanism is deduced according to the rational input scheme. Finally the rationality of\ninput scheme for this mechanism is identified on the basis of the continuity of the workspace.
Loading....