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Computation of the safe working zones of Planar and Spatial Parallel Manipulators

Published online by Cambridge University Press:  25 July 2019

Murali K. Karnam ,
Aravind Baskar ,
Rangaprasad A. Srivatsan  and
Sandipan Bandyopadhyay Open the ORCID record for Sandipan Bandyopadhyay [Opens in a new window]
Murali K. Karnam
Affiliation:
Department of Biomedical Engineering, University of Basel, 4001 Basel, Switzerland
Aravind Baskar
Affiliation:
Department of Aerospace and Mechanical Engineering, University of Notre Dame, Notre Dame, IN46556, USA
Rangaprasad A. Srivatsan
Affiliation:
Robotics Institute, Carnegie Mellon University, 5000 Forbes Ave, Pittsburgh, PA15213, USA
Sandipan Bandyopadhyay*
Affiliation:
Department of Engineering Design, Indian Institute of Technology Madras, Chennai600 036, India
*
* Corresponding author. E-mail: sandipan@iitm.ac.in
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Summary

This paper presents the computation of the safe working zone (SWZ) of a parallel manipulator having three degrees of freedom. The SWZ is defined as a continuous subset of the workspace, wherein the manipulator does not suffer any singularity, and is also free from the issues of link interference and physical limits on its joints. The proposed theory is illustrated via application to two parallel manipulators: a planar 3-R̲RR manipulator and a spatial manipulator, namely, MaPaMan-I. It is also shown how the analyses can be applied to any parallel manipulator having three degrees of freedom, planar or spatial.

Keywords

Safe working zoneParallel manipulatorSingularitiesLink interferenceJoint limitsSingularity-free workspace
Type
Articles
Information
Robotica , Volume 38 , Issue 5 , May 2020 , pp. 861 - 885
Copyright
© Cambridge University Press 2019

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Footnotes

Murali K. Karnam contributed to the paper while working as a Project Officer at the Indian Institute of Technology Madras, India. Aravind Baskar contributed to the paper as anMS scholar at the Indian Institute of Technology Madras, India. Rangaprasad A. Srivatsan contributed to the paper while working as a Project Officer at the Indian Institute of Technology Madras, India.

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