The aim of this paper is to describe a general methodology for enlarging the workspace within which a parallel manipulator can move in a controllable way. The basis for obtaining this consists in superimposing all the singularity-free regions associated with the various different robot working modes. These can be connected because such transitions do not imply a loss of control of the manipulator. This enlarged operational workspace is associated with a certain assembly mode. In addition, the strategy to be used for path planning in this kind of workspace is presented.

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.