In this paper, kinematic and workspace analysis of 3-DoF planar Parallel Kinematic Machine (PKM) is carried out. The mechanism consists of three legs in which two legs have Prismatic-RevolutePrismatic joints and other leg has Prismatic-Prismatic-Revolute joints, it termed as 2-PRP and 1-PPR planar parallel kinematic machine. By these joints, the mechanism can achieve two translational motions a...

The workspace of a Stewart platform is a complex sixdimensional volume embedded in the Cartesian space defined by six pose parameters. Because of its large dimension and complex shape, such workspace is difficult to compute and represent, so that comprehension on its structure is being gained by studying its three-dimensional slices. While successful methods have been given to determine the con...

A hybrid type manipulation system is a combination of closed-chain and open-chain mechanisms or it is a sequence of parallel mechanisms. Parallel manipulators have high stiffness and large load capacity, but suffer from a very limited workspace volume. The hybrid manipulators overcome the limited workspace of the parallel manipulators and at the same time they have high stiffness. The determina...

The wrench-closure workspace of parallel cable-driven mechanisms is the set of poses of their mobile platform for which the cables can balance any external wrench. The determination of this workspace is an important issue since the cables can only pull and not push on the mobile platform. This paper deals with the wrench-closure workspace of six-degrees-of-freedom (DOF) parallel mechanisms driv...

This paper addresses the workspace analysis of the orthoglide, a 3-DOF parallel mechanism designed for machining applications. This machine features three fixed parallel linear joints which are mounted orthogonally and a mobile platform which moves in the Cartesian x-y-z space with fixed orientation. The workspace analysis is conducted on the bases of prescribed kinetostatic performances. The i...

This work intends to deal with the optimal kinematic synthesis problem of Tricept parallel manipulator. Observing that cuboid workspaces are desirable for most machines, we use the concept of effective inscribed cuboid workspace, which reflects requirements on the workspace shape, volume and quality, simultaneously. The effectiveness of a workspace is characterized by the dexterity of the manip...

An important step during the design of a parallel manipulator is the determination of its workspace. For a 6 d.o.f. parallel manipulator workspace limitations are due to the bounded range of their linear actuators, mechanical limits on their passive joints and links interference. The computation of the workspace of a parallel manipulator is far more complex than for serial link manipulator as i...

This paper discusses methods for visualising the workspace of a generic robot using the colour space to indicate orientation and dexterity of the tool. A method is shown to convert Euler angles into a RGB colour representation. An alternative method for examining generic workspace quality based on dexiterity is also shown. These methods are then applied to selected examples.

This paper addresses an interval analysis based study that is applied to the design and the comparison of three-degrees-of-freedom (3-DoF) parallel kinematic machines. Two design criteria are used: (i) a regular workspace shape and (ii) a kinetostatic performance index that needs to be as homogeneous as possible throughout the workspace. The interval analysis based method takes these two criter...

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 PRUR 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 pla...