Workspace Boundary Search Algorithm for Parallel Mechanism Based on Two-Dimensional Cell

By understanding the neighborhood types of cellular automata, a workspace boundary search algorithm for parallel mechanisms based on two-dimensional cells is proposed to describe the process of boundary point search. Taking 3RPR planar parallel mechanism as an example, the inverse kinematics equation is established to solve the kinematics inverse solution of the mechanism, and the inverse solution is used as the constraint condition to realize the inverse kinematics of the mechanism by cell search method. At last, three neighborhoods are used to solve the 3RPR workspace. The results show that all three neighborhoods can solve the workspace. Among them, the extended Moore neighborhood can solve the boundary points accurately and clearly.