This paper presents a new method, based on a geometrical approach, for the total workspace determination, characterization and analysis of planar parallel manipulators. The geometrical algorithm proposed for total workspace computation is implemented in a CAD environment. This paper illustrates the effectiveness of such a method in robot design process. Examples of total workspace determination of several types of planar parallel manipulators are presented. © Springer Science+Business Media B.V. 2010.
CITATION STYLE
Arrouk, K. A., Bouzgarrou, B. C., & Gogu, G. (2010). Workspace determination and representation of planar parallel manipulators in a CAD environment. In Mechanisms and Machine Science (Vol. 5, pp. 605–612). Kluwer Academic Publishers. https://doi.org/10.1007/978-90-481-9689-0_69
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