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

Published online by Cambridge University Press:  01 May 2008

Erik Macho ,
Oscar Altuzarra ,
Charles Pinto  and
Alfonso Hernandez
Erik Macho
Affiliation:
Department of Mechanical Engineering, University of the Basque Country, Bilbao, 48013, Spain
Oscar Altuzarra
Affiliation:
Department of Mechanical Engineering, University of the Basque Country, Bilbao, 48013, Spain
Charles Pinto
Affiliation:
Department of Mechanical Engineering, University of the Basque Country, Bilbao, 48013, Spain
Alfonso Hernandez*
Affiliation:
Department of Mechanical Engineering, University of the Basque Country, Bilbao, 48013, Spain
*
*Corresponding author. E-mail: a.hernandez@ehu.es
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Summary

The 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.

Keywords

Parallel manipulatorWorking modesAssembly modesSingularitiesWorkspacePath planning5R manipulator
Type
Article
Information
Robotica , Volume 26 , Issue 3 , May 2008 , pp. 395 - 403
Copyright
Copyright © Cambridge University Press 2008

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