Simulation analysis of Stewart platform safety mechanism

Safety mechanism, which can move at will when the length of links ranges in its whole extension region, is designed and simulated based on extreme poses. The simulation results indicate that the rotation angle of joints and the distance between two close links satisfy all restrictions when the length of links ranges in its whole extension region. It can be found that the design method about safety mechanism based on links space is a kind of valuable method in mechanism optimization, which transforms the problems about singularity, constraint of the rotation angle limit of joints and links´ interference, into the length constraint of links. And moreover, there is no singular point in the safety mechanism´s whole workspace.