A challenge for cylinder-slider parallel manipulators is their limited workspace and singularity-free path generation. In this paper, the linkage feasibility conditions are derived based on the elimination of dead point position within the workspace. The workspace is generated using the curve-enveloping theory. The singularity-free path generation capability is analyzed. The performance index contours within the workspace are produced using the condition number of the manipulator Jacobian matrix. This paper shows that five-bar cylinder-slider parallel manipulators can be used as effective singularity-free path generators if properly designed. The results of this paper provide a useful map for designing this type of parallel manipulator.

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