Kinematic structure and workspace analysis of a parallel kinematic machine based on lambda mechanism with actuated translation joints

This paper presents modeling and analysis of a virtual machine prototype based on Lambda parallel kinematic mechanism with actuated translation joints. Kinematic modeling includes solving inverse kinematic and workspace analysis of the machine. Verification of inverse kinematic equations has been done analytically using MatLab software and a CAD/CAM system, and the workspace analysis is also done analytically using the polar coordinates.