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Determination of the orientation workspace of parallel manipulators

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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.

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

    J. -P. Merlet

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  1. J. -P. Merlet
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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

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

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