Skip to main content
SpringerLink
Log in

Determination of the orientation workspace of parallel manipulators

  • Published:
Journal of Intelligent and Robotic Systems Aims and scope Submit manuscript

Abstract

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.

This is a preview of subscription content, log in via an institution to check access.

Access this article

Log in via an institution

Price excludes VAT (USA)
Tax calculation will be finalised during checkout.

Instant access to the full article PDF.

Institutional subscriptions

Similar content being viewed by others

References

  1. Agrawal, S. K.: Workspace boundaries of in-parallel manipulator systems, inICAR, Pise, June 19–22, 1991, pp. 1147–1152.

  2. Arai, T., Cleary, K., and others: Design, analysis and construction of a prototype parallel link manipulator, inIEEE Int. Workshop on Intelligent Robots and Systems, Ibaraki, Japan, July 3–6, 1990, Vol. 1, pp. 205–212.

  3. Bricard, R.: Mémoire su la théorie de l'octaèdre articulé,J. Math. Pures et Appliquées, Liouville 3 (1897), 113–148.

    Google Scholar 

  4. Cleary, K. and Arai, T.: A prototype parallel manipulator: Kinematics construction, software, workspace results and singularity analysis, inIEEE Int. Conf. on Robotics and Automation, Sacramento, April 11–14, 1991, pp. 566–571.

  5. Fichter, E. F.: A Stewart platform based manipulator: General theory and practical construction,Int. J. Robotics Res. 5 (1986), 157–181.

    Google Scholar 

  6. Gosselin, C.: Determination of the workspace of 6-dof parallel manipulators, inASME Design Automation Conf., Montréal, September 17–20, 1989, pp. 321–326.

  7. Gough, V. E.: Contribution to discusion of papers on research in automobile stability, control and tyre performance, 1956–1957,Proc. Auto. Div. Inst. Mech. Eng.

  8. Jo, D. Y. and Haug, E. J.: Workspace analysis of closed loop mechanisms with unilateral constraints, inASME Design Automation Conf., Montréal, September 17–20, 1989, pp. 53–60.

  9. Landsberger, E. E. and Shanmugasundram, A. P.: Workspace of parallel link crane, inIMACS/SICE Int. Symp. on Robotics, Mechatronics, and Manufacturing Systems, Kobe, September 16–20, 1992, pp. 479–486.

  10. Lee, K.-M. and Shah, D. K.: Kinematic analysis of a three-degrees-of-freedom inparallel actuated manipulator,IEEE of Robotics and Automation 4(3) (1988), 354–360.

    Google Scholar 

  11. Mac Callion, H. and Pham, D. T.: The analysis of a six degrees of freedom work station for mechanized assembly, inProc. 5th World Congress on Theory of Machines and Mechanisms, Montréal, July 1979, pp. 611–616.

  12. Merlet, J.-P.: Parallel manipulators, Part 1. Research Report 646, INRIA, March 1987.

  13. Merlet, J.-P.:Les Robots Parallèles, Hermès, Paris, 1990.

    Google Scholar 

  14. Merlet, J.-P.: Geometrical determination of the workspace of a constrained parallel manipulator, inARK, Ferrare, September 7–9, 1992, pp. 326–329.

  15. Pennock, G. R. and Kassner, D. J.: The workspace of a general geometry planar three degree of freedom platform manipulator, inASME Design Automation Conf., Miami, September 22–25, 1991, pp. 537–544.

  16. Pierrot, F.:Robots Pleinement Parallèles Légers: Conception Modélisation et Comande, PhD Thesis, Université Montpellier II, Montpellier, April 24, 1991.

    Google Scholar 

  17. Pooran, F. J.:Dynamics and Control of Robot Manipulators with Closed-kinematic Chain Mechanism, PhD Thesis, The Catholic University of America, Washington, DC, 1980.

    Google Scholar 

  18. Reboulet, C. and Pigeyre, R.: Hybrid control of a 6 d.o.f. in parallel actuated micromacro manipulator mounted on a Scara robot, in3rd ISRAM, Burnaby, July 18–20, 1990, Vol. 3, pp. 293–298, ASME Press Series.

  19. Steward, D.: A platform with 6 degrees of freedom,Proc. Inst. of Mechanical Engineers 180(Part 1, 15) (1965–1966), 371–386.

    Google Scholar 

  20. Weng, T. C.:Kinematics of Parallel Manipulators with Ground-mounted Actuators, PhD Thesis, University of Florida, Gainesville, 1988.

    Google Scholar 

  21. Williams II, R. L. and Reinholtz, C. F.: Closed-form workspace determination and optimization for parallel robot mechanisms, inASME Proc. 20th Biennal Mechanisms Conf., Kissimmee, Orlando, September 25–27, 1988, pp. 341–351.

Download references

Author information

Authors and Affiliations

  1. INRIA Sophia-Antipolis, BP 93, 06902, Sophia-Antipolis Cedex, France

    J. -P. Merlet

Authors
  1. J. -P. Merlet
    View author publications

    You can also search for this author in PubMed Google Scholar

Rights and permissions

Reprints and permissions

About this article

Cite this article

Merlet, J.P. Determination of the orientation workspace of parallel manipulators. J Intell Robot Syst 13, 143–160 (1995). https://doi.org/10.1007/BF01254849

Download citation

  • Received:

  • Accepted:

  • Issue Date:

  • DOI: https://doi.org/10.1007/BF01254849

Key words

Search

Navigation