Abstract:Many factors influence parallel robot work space, such as: singular type, structure scale, static force etc. Taking the 3-RPC parallel robot as the research object, based on the position analysis, with Jacobin condition number as the reference, get mechanism limit scale by using the iterative method. Through the movement simulation verification mechanism in the limit of rod long space bar interference and static force, so as to ensure the safety of the workspace. Finally, using the polar coordinate searching method to calculate safety workspace.