Utility Workspace of 3-5R Translational Parallel Mechanism

Abstract

We discuss a kinematic design of a 3-5R translational parallel mechanism with a large utility workspace. The utility workspace is a closed area, in which the mechanism can move to point without suffering from singularities or running into workspace boundaries. An algorithm for computing the volume of the utility workspace is proposed. We discuss the utility workspace of 3-5R translational parallel mechanisms having three types of chain in consideration of their actuation and constraint singularities. We obtained a 3-RUU translational parallel mechanism with a large utility workspace.

Keywords

• robotics
• kinematic design
• translational parallel mechanism
• utility workspace
• singularity