Workspace Determination and Representation of Planar Parallel Manipulators in a CAD Environment

CAD-based unified graphical methodology for solving the main problems related to geometric and kinematic analysis of planar parallel robotic manipulators

“…The developments presented in this paper are based on a set of original techniques introduced in our previous works [27][28][29][30][31]. The graphical CAD-based geometric method developed in the present paper can be easily deployed to solve the main problems related to geometric and kinematic analysis of all possible three-legged PPRMs with 3 DOFs regardless their individual leg architectures, including asymmetric PPRMs.…”

“…workspace determination, with application to 3-RPR, 3-PPR and 3-PRR PPRMs, in [29], 2. 3D workspace representation, and singularity surface reconstruction, with application to 3-RPR-type PPRM, in [28], 3.…”

“…In our previous works [27,29], we tackled the problem of 3D total workspace determination and characterization of the planar parallel manipulator. 3D total workspace integrates all feasible positions and orientations of the moving platform.…”

“…The parameterized CAD-Geometric methodology is made up of four main steps [27,29] i. Construction of the vertex surfaces reached by each kinematic chain for a given orientation of the mobile platform.…”

Kinematic Performance Measures and Optimization of Parallel Kinematics Manipulators: A Brief Review

“…This approach is fast and also accurate. To make it easier and much faster, CAD software might also be utilized such as the work proposed by Arrouk et al [11]. One of the main drawbacks of this approach is its lack of general applicability since different robot topologies might need different techniques to apply this approach.…”