Enlarging operational workspaces in parallel manipulators by connecting working modes. Application to the 3RSS robot
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SUMMARYThe aim of this paper is to describe a general methodology for enlarging the workspace within which a parallel manipulator can move in a controllable way. The basis for obtaining this consists in superimposing all the singularity-free regions associated with the various different robot working modes. These can be connected because such transitions do not imply a loss of control of the manipulator. This enlarged operational workspace is associated with a certain assembly mode. In addition, the strategy to be used for path planning in this kind of workspace is presented.
2010 ◽
Vol 44-47
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pp. 1375-1379
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2008 ◽
Vol 14
(3)
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pp. 201-212
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2017 ◽
Vol 44
(6)
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pp. 776-787
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2004 ◽
Vol 218
(7)
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pp. 721-730
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