An integrated study of the workspace and singularity for a Schönflies parallel manipulator | Zendy

J. Jesús CervantesSánchez | Zendy; José M. Rico-Martı́nez | Zendy; Víctor H. Pérez-Muñoz | Zendy

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An integrated study of the workspace and singularity for a Schönflies parallel manipulator

Author(s) -

J. Jesús CervantesSánchez,

José M. Rico-Martı́nez,

Víctor H. Pérez-Muñoz

Publication year - 2016

Publication title -

journal of applied research and technology

Language(s) - English

Resource type - Journals

SCImago Journal Rank - 0.364

H-Index - 30

ISSN - 1665-6423

DOI - 10.1016/j.jart.2016.01.004

Subject(s) - workspace , parallel manipulator , singularity , manipulator (device) , computer science , control theory (sociology) , mathematics , artificial intelligence , mathematical analysis , robot , control (management)

This paper presents a simple and systematic approach to formulate the inverse position problem of a Schönflies parallel manipulator. As a result, the inverse position problem is solved in closed form and leads directly to the automatic generation of the workspace of the manipulator. Additionally, a systematic velocity analysis is also presented, which allows to detect and characterize all the singularities related to this manipulator

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