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Path Planning of Planar Parallel Mechanisms Using Global Workspace Road Maps

[+] Author Affiliations
Wesley Au, Chao Chen, Hoam Chung

Monash University, Clayton, VIC, Australia

Paper No. DETC2012-70770, pp. 1269-1276; 8 pages
  • ASME 2012 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference
  • Volume 4: 36th Mechanisms and Robotics Conference, Parts A and B
  • Chicago, Illinois, USA, August 12–15, 2012
  • Conference Sponsors: Design Engineering Division, Computers and Information in Engineering Division
  • ISBN: 978-0-7918-4503-5
  • Copyright © 2012 by ASME


The aim of this paper is to define a process to expand the overall reachable workspace of the 5R mechanism and to conduct feasible path planning between configurations within that space, even in cases where the initial and final configurations exist in different modes. It is known that if a mechanism has multiple working modes, there is a unique workspace for each configuration, and they are often only partially connected to each other in a complex manner. Serial singularities allow the mechanism to remain stiff and controllable. These regions are utilised to link disconnected workspaces to maximise the overall reachable workspace to form the global workspace road map. This paper focuses on the 2-DOF path planning of the 5R planar mechanism. A generalised method for analysing complex workspaces of parallel mechanisms is proposed, the rotary disk search for finding the connected reachable workspace, a strategy for global path finding by analysing the global workspace road map and local path generation are discussed.

Copyright © 2012 by ASME



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