Based on equal-area measurable partition of workspace analysis

This paper is focused on the workspace analysis. A simple, effective and intuitive scheme called equal-area measurable partition is presented. In order to verify the effectiveness and correctness of the proposed algorithms, the reachable workspace area of cable-driven 3-DOF parallel mechanism is analyzed quantitatively by the constraint conditions. And numerical solution of the global condition index (GCI) is given. The simulation results from the scheme shows that the mechanism has a certain load capacity and stability movement performance.