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5r manipulator

Robotica (1)

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Workspaces associated to assembly modes of the 5R planar parallel manipulator
Erik Macho, Oscar Altuzarra, Charles Pinto, Alfonso Hernandez
Journal:

Robotica / Volume 26 / Issue 3 / May 2008

Published online by Cambridge University Press:

01 May 2008, pp. 395-403
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The aim of this paper is to show how it is possible to obtain for the 5R planar parallel manipulator the complete workspace associated with each solution of the direct kinematic problem or assembly mode. The workspaces associated with the different inverse kinematic problem solutions or working modes are joined and the robot moves from one to another without losing the control. An exhaustive analysis of the complete workspace and singular positions of the 5R planar parallel manipulator with two active joints is presented. Furthermore, application of these principles to path planning will be explained.