Limit-protection Method for Workspace of a Parallel Power Head

The position and pose of the end 1T2R mechanism with one translational motion two rotational degrees freedom in operation space is nonlinear mapping servo motor action joint space, postures states can only be obtained through complex modeling calculation. Because this, key problem to solved urgently realize real-time accurate limit protection function this kind structure machine tool, reduce process calculation amount judgment mechanism. In paper, a simplified algorithm for attitude proposed by analyzing workspace terminal moving platform under any configuration realized summing up length three branch chains calculating difference. Further, method parallel power head based on implemented software hardware conditions existing control system. It easy implement has small calculation, which further improve safety such tools.