Type synthesis of 5-DOF parallel manipulators based on screw theory
Journal of Robotic Systems
Joint workspace of parallel kinematic machines
Robotics and Computer-Integrated Manufacturing
Type Synthesis of Parallel Mechanisms
Type Synthesis of Parallel Mechanisms
Structural synthesis of 5 DoFs 3T2R parallel manipulators with prismatic actuators on the base
Robotics and Autonomous Systems
A unified algorithm to determine the reachable and dexterous workspace of parallel manipulators
Robotics and Computer-Integrated Manufacturing
Singularities and workspace analysis for a parallel robot for minimally invasive surgery
AQTR '10 Proceedings of the 2010 IEEE International Conference on Automation, Quality and Testing, Robotics (AQTR) - Volume 01
Parallel Robots
Workspace evaluation of manipulators through finite-partition of SE(3)
Robotics and Computer-Integrated Manufacturing
On the maximal singularity-free ellipse of planar 3-RP R parallel mechanisms via convex optimization
Robotics and Computer-Integrated Manufacturing
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This paper investigates the constant-orientation workspace of five-degree-of-freedom parallel mechanisms generating the three translations and two independent rotations and comprising five identical limbs of the P@?RUR type. The general mechanism was proposed recently from the type synthesis performed for 5-DOF parallel mechanisms with identical limb structures. In this study, the emphasis is placed on the determination of the constant-orientation workspace using a geometric interpretation of the so-called vertex space, i.e., the motion generated by a limb for a given orientation. The geometric investigation is carried out using geometric constructive approach, which is implemented in a computer algebra system and in a CAD system. This paper shows that these two approaches are complementary tools to investigate the workspace of parallel mechanisms. The geometric constructive approach proposed in this paper bring insight into the architecture optimization and it can be regarded as a guideline for the workspace analysis of parallel mechanisms whose vertex spaces generate Bohemian dome.