Two methods for determining dexterity of manipulator arms are presented. A numerical method is illustrated for determining all possible orientations of the end-effector of an open kinematic chain based upon a row-rank deficiency of the sub-Jacobian of the kinematic constraint equations. This numerical method has been adapted from a theory for determining the accessible output set for planar and...

Malleable robots are a type of reconfigurable serial robot capable adapting their topology, through the use variable stiffness malleable links, to desired tasks and workspaces by varying relative positioning between revolute joints. However, reconfiguration is nontrivial, lacking intuitive communication human robot, method efficiently aligning end effector position. In this article, we present ...

We consider in this paper a Gough-type parallel robot whose leg length values are constrained to lie within some fixed ranges and for which there may be mechanical limits for the motion of the passive joints. The purpose of this paper is to present algorithms to determine: • the constant orientation workspace: all the possible locations of the center of the platform that can be reached with a f...

In this paper, a new design method considering a desired workspace and swing range of spherical joints of a DELTA robot is presented. The design is based on a new concept, which is the maximum inscribed workspace proposed in this paper. Firstly, the geometric description of the workspace for a DELTA robot is discussed, especially, the concept of the maximum inscribed workspace for the robot is ...

This paper proposes a classification of three-revolute orthogonal manipulators that have at least one of their DH parameters equal to zero. This classification is based on the topology of their workspace. The workspace is characterized in a half-cross section by the singular curves. The workspace topology is defined by the number of cusps and nodes that appear on these singular curves. The mani...

This paper studies the workspace of a six-degrees-of-freedom parallel manipulator of the general three-PPSR (prismaticprismatic-spheric-revolute) type. It is known that a drawback of parallel manipulators is their limited workspace. To develop parallel mechanisms with a larger workspace is of use to potential applications. The mechanism of a three-PPSR manipulator and its variations are briefly...

We consider in this paper a Gough-type parallel robot whose leg lengths values are constrained to lie within some fixed ranges and for which there may be mechanical limits for the motion of the passive joints. The purpose of this paper is to present algorithms to determine: • the constant orientation workspace: all the possible locations of the center of the platform which can be reached with a...

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...

Abstract Productivity can be increased by manipulators tracking the desired trajectory with some constraints. Humans as moving obstacles in a shared workspace are one of most challenging problems for cable-driven parallel mechanisms (CDPMs) that considered this research. One essential primary issues CDPM is collision avoidance among cables and humans workspace. This paper presents model simulat...

This paper presents a new approach to generate the workspace of planar redundant manipulators based on the workspace density of a single link. The workspace density of planar serial redundant manipulators can be computed efficiently by using the concept of the Fourier transform for the group of rigid-body motions of the plane and the convolution theorem. For manipulators using discrete actuatio...