Authors
J -P Merlet
Publication date
1995/6
Journal
Journal of intelligent and robotic systems
Volume
13
Pages
143-160
Publisher
Kluwer Academic Publishers
Description
An important step during the design of a parallel manipulators is the determination of its workspace. For a 6-d.o.f. parallel manipulator workspace limitations are due to the bounded range of their linear actuators, mechanical limits on their passive joints and links interference. The computation of the workspace of a parallel manipulator is far more complex than for a serial link manipulator as its translation ability is dependent upon the orientation of the end-effector.
We present in this paper an algorithm enabling to compute the possible rotation of the end-effector around a fixed point. This algorithm enables to take into account all the constraints limiting the workspace. Various examples are presented.
Total citations
Scholar articles
JP Merlet - Journal of intelligent and robotic systems, 1995