Workspace and singularities analysis of a 6-dof parallel mechanism with two kinematic chains for platform guidance

Abstract

The aim of this paper is to present the workspace and singularity analysis of a parallel structure that can be used for complex operations such as microassembly, electronic circuit testing or for industrial laser cutting or manufacturing. Starting from the inverse geometrical model of the robot, its analytical workspace is determined. A brief look at different types of singularity points is presented. Conclusions and references are presented at the end of the paper. © Springer Science+Business Media Dordrecht 2013.