Workspaces associated to assembly modes of the 5R planar parallel manipulator

Abstract

SUMMARYThe aim of this paper is to show how it is possible to obtain for the 5R planar parallel manipulator the complete workspace associated with each solution of the direct kinematic problem or assembly mode. The workspaces associated with the different inverse kinematic problem solutions or working modes are joined and the robot moves from one to another without losing the control. An exhaustive analysis of the complete workspace and singular positions of the 5R planar parallel manipulator with two active joints is presented. Furthermore, application of these principles to path planning will be explained.

Pa<sup>2</sup> kinematic bond in translational parallel manipulators

“…They can be reached during the motion and, in fact, communicate the regions associated with the different working modes (for the same assembly mode), so they can be used to enlarge the operational workspace. When a workspace boundary (where two solutions of the inverse position problem merge) is reached, the manipulator can change its working mode and make a transition from one workspace region to another, maintaining the same assembly mode, Macho et al (2008Macho et al ( , 2009Macho et al ( , 2013.…”

“…This study is included in the last part of the present paper. As proposed in Macho et al (2008Macho et al ( , 2013, a complete analysis of the workspace requires the study of the singularity locus, as well as the determination of the working modes and the singularity-free regions associated with each working mode, so that an enlarged workspace can be found. A general systematic procedure to obtain all the singularity-free workspace regions in parallel manipulators, so that strategies to enlarge the accessible workspace can be planned, is presented in Macho et al (2009).…”

Indices for Stiffness and Singularity Evaluation for Designing 5R Parallel Manipulators

“…(1). Such a manipulator with a symmetric structure has attracted many researchers, who have investigated its position [31,32], workspace [2,33], assembly modes [33], singularities [2, 3, 27, 34-37], performance atlases [38] and kinematic design [35,39]. For the kinematic model, the used parameters are shown in Fig.…”

“…Prototypes have been conceived and built together with the development of theoretical investigations on kinematics and dynamics. The attention is focused on a number of possible applications such as manipulation [1,2], packing and assembly/disassembly machines [3], motion simulation [4][5][6][7], milling machines [8], toys and sensors. However, they have some disadvantages such as small and complex workspace with internal singularities and the complexity of their direct kinematics [2,[9][10][11].…”

Generation of the global workspace roadmap of the 3-R R using rotary disk search

“…As such, the parallel and serial singularity regions form the boundaries of each smaller disjoint workspace, which forms the basis of assembly and working modes [1,2]. These small disjoint workspaces, if forcibly bound by their assembly and working modes, can significantly reduce the overall reachable workspace [3].…”