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A Geometric Constructive Approach for the Workspace Analysis of Symmetrical 5-PRUR Parallel Mechanisms (3T2R)

[+] Author Affiliations
Mehdi Tale Masouleh, Clément Gosselin

Université Laval, Québec, QC, Canada

Mohammad Hossein Saadatzi, Hamid D. Taghirad

K.N. Toosi University of Technology, Tehran, Iran

Paper No. DETC2010-28509, pp. 1335-1344; 10 pages
  • ASME 2010 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference
  • Volume 2: 34th Annual Mechanisms and Robotics Conference, Parts A and B
  • Montreal, Quebec, Canada, August 15–18, 2010
  • Conference Sponsors: Design Engineering Division and Computers in Engineering Division
  • ISBN: 978-0-7918-4410-6 | eISBN: 978-0-7918-3881-5
  • Copyright © 2010 by ASME


This paper investigates an important kinematic property, the constant-orientation workspace, of five-degree-of-freedom parallel mechanisms generating the 3T2R motion and comprising five identical limbs of the P RUR type. The general mechanism originates from the type synthesis performed for symmetrical 5-DOF parallel mechanism. In this study, the emphasis is placed on the determination of constant-orientation workspace using geometrical interpretation of the so-called vertex space, i.e., motion generated by a limb for a given orientation, rather than relying on classical recipes, such as discretization methods. For the sake of better understanding a CAD model is also provided for the vertex space. The constructive geometric approach presented in this paper provides some insight into the architecture optimization. Moreover, this approach facilitates the computation of the evolution of the volume of the constant-orientation workspace for different orientations of the end-effector.

Copyright © 2010 by ASME



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