Maximal Operational Workspace of Parallel Manipulators

Macho, Erik; Altuzarra, Oscar; Hernández, A.

doi:10.5772/9342

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Definition and Structure Of The Swz1

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2019

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“…Terms such as "singularity-free", 14 "practical", 26 "desired", 27 "specific", 27 "complete", 28 and "operational" 29 have been used in literature to define a region inside the workspace of a parallel manipulator, which is free of either singularities, or physical constraints, or both. It is interesting to note, however, that in spite of the significant variety that exists in the related terminology, none of the existing terms relate to all of the four issues described in Section 1.…”

Section: Definition and Structure Of The Swzmentioning

confidence: 99%

Computation of the safe working zones of Planar and Spatial Parallel Manipulators

et al. 2019

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SUMMARYThis paper presents the computation of the safe working zone (SWZ) of a parallel manipulator having three degrees of freedom. The SWZ is defined as a continuous subset of the workspace, wherein the manipulator does not suffer any singularity, and is also free from the issues of link interference and physical limits on its joints. The proposed theory is illustrated via application to two parallel manipulators: a planar 3-R̲RR manipulator and a spatial manipulator, namely, MaPaMan-I. It is also shown how the analyses can be applied to any parallel manipulator having three degrees of freedom, planar or spatial.

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