Joint space and workspace analysis of a two-DOF closed-chain manipulator

The aim of this paper is to compute of the generalized aspects, i.e. the maximal singularity-free domains in the Cartesian product of the joint space and workspace, for a planar parallel mechanism in using quadtree model and interval analysis based method. The parallel mechanisms can admit several solutions to the inverses and the direct kinematic models. These singular configurations divide the joint space and the workspace in several not connected domains. To compute this domains, the quadtree model can be made by using a discretization of the space. Unfortunately, with this method, some singular configurations cannot be detected as a single point in the joint space. The interval analysis based method allow us to assure that all the singularities are found and to reduce the computing times. This approach is tested on a simple planar parallel mechanism with two degrees of freedom.