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

  • Murali K. Karnam (a1), Aravind Baskar (a2), Rangaprasad A. Srivatsan (a3) and Sandipan Bandyopadhyay (a4)

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.

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Corresponding author

* Corresponding author. E-mail: sandipan@iitm.ac.in

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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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References

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