Workspace characterization and kinematic analysis of general spherical parallel manipulators revisited via graphical based approaches

摘要: Abstract This paper revisits some fundamental issues in kinematic analysis of spherical parallel robotic manipulators (SPRMs), such as the orientation capacities mobile platform (MPF), and assembly modes determination. The are analyzed by using several types workspaces: total workspace, full-spin constant-spin workspace. adopted representation MPF brings up-to-date use coordinate system, which we find more appropriate when Euler angle parameters used. is applied to each limb, considered independent from rest mechanism having end-effector. 3D space reached called also vertex space, represented a solid volume. Thereafter, operational SPRM directly determined Boolean intersection previously obtained volumes. Moreover, fixing joint variables, domain limb surface. surfaces nothing but set points corresponding solutions forward problem. These operations implemented CAD software proposed approaches have been validated successfully examples application for both workspace determination FKP resolution.