A geometrical formulation for the workspace of parallel manipulators

Abstract In study this paper, a geometric formulation is proposed to describe the workspace of parallel manipulators by using recursive approach as an extension volume generation for solids revolution. approach, and boundary each limb manipulator obtained with algebraic derived from kinematic chain motion constraints on its joints. Then, overall mechanism can be determined intersection workspaces. The different chains discussed classified according external shape. An inclusion obstacles in computation also proposed. Both analytical models numerical simulations are reported their advantages limitations. example 3-SPR illustrates feasibility efficiency.