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Enlarging operational workspaces in parallel manipulators by connecting working modes. Application to the 3RSS robot

Published online by Cambridge University Press:  03 October 2012

E. Macho ,
O. Altuzarra ,
C. Pinto  and
A. Hernández
E. Macho*
Affiliation:
Department of Mechanical Engineering, Faculty of Engineering in Bilbao, University of the Basque Country, Alameda de Urquijo s/n, 48013, Bilbao, Spain. E-mails: oscar.altuzarra@ehu.es, charles.pinto@ehu.es, a.hernandez@ehu.es
O. Altuzarra
Affiliation:
Department of Mechanical Engineering, Faculty of Engineering in Bilbao, University of the Basque Country, Alameda de Urquijo s/n, 48013, Bilbao, Spain. E-mails: oscar.altuzarra@ehu.es, charles.pinto@ehu.es, a.hernandez@ehu.es
C. Pinto
Affiliation:
Department of Mechanical Engineering, Faculty of Engineering in Bilbao, University of the Basque Country, Alameda de Urquijo s/n, 48013, Bilbao, Spain. E-mails: oscar.altuzarra@ehu.es, charles.pinto@ehu.es, a.hernandez@ehu.es
A. Hernández
Affiliation:
Department of Mechanical Engineering, Faculty of Engineering in Bilbao, University of the Basque Country, Alameda de Urquijo s/n, 48013, Bilbao, Spain. E-mails: oscar.altuzarra@ehu.es, charles.pinto@ehu.es, a.hernandez@ehu.es
*
*Corresponding author. E-mail: erik.macho@ehu.es
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Summary

The 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.

Keywords

Parallel manipulatorWorkspaceSingularitiesWorking modesAssembly modes
Type
Articles
Information
Robotica , Volume 31 , Issue 4 , July 2013 , pp. 539 - 548
Copyright
Copyright © Cambridge University Press 2012 

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