This paper presents an algorithm for the determination of the workspace of parallel manipulators. The method described here, which is based on geometrical properties of the workspace, leads to a simple graphical representation of the regions of the three-dimensional Cartesian space that are attainable by the manipulator with a given orientation of the platform. Moreover, the volume of the workspace can be easily computed by performing an integration in its boundary, which is obtained from the algorithm. Examples are included to illustrate the application of the method to a six-degree-of-freedom fully parallel manipulator.
Determination of the Workspace of 6-DOF Parallel Manipulators
INRIA (Projet Prisme), Centre de Sophia-Antipolis, 2004 Route des Lucioles, 06565 Valbonne Cedex, France
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Gosselin, C. (September 1, 1990). "Determination of the Workspace of 6-DOF Parallel Manipulators." ASME. J. Mech. Des. September 1990; 112(3): 331–336. https://doi.org/10.1115/1.2912612
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