Characterization of Workspaces of Parallel Manipulators

[+] Author and Article Information
V. Kumar

Department of Mechanical Engineering and Applied Mechanics, University of Pennsylvania, Philadelphia, PA 19104-6315

J. Mech. Des 114(3), 368-375 (Sep 01, 1992) (8 pages) doi:10.1115/1.2926562 History: Received July 01, 1990; Online June 02, 2008


The workspaces and kinematic characterization of serial chain manipulator geometries and the geometric optimization have been studied extensively. Much less is known about workspaces for manipulation systems which possess several serial chains arranged in parallel. In this paper, two well known workspaces, the reachable workspace and the dexterous workspace, are investigated for parallel manipulators. A general method for obtaining these workspaces is presented. The existence of numerous special configurations in the workspace present problems in manipulator control. Therefore the controllably dexterous workspace is proposed as a useful measure of kinematic performance. The methodology of delineating the workspaces and its limitations are illustrated with examples.

Copyright © 1992 by The American Society of Mechanical Engineers
Topics: Manipulators
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