Geometrical approach for the workspace of a 6-DOF parallel manipulator

6자유도 병렬형 매니퓰레이터의 작업공간결정을 위한 기하학적 접근

In this paper, a fully geometrical method for the determination of the workspace of a 6-DOF parallel manipulator is presented using the concept of 4-bar linkage. The reachable and dexterous can be determined from the proposed algorithm. In order to evaluate the workspace, each leg is considered as an open chain, and two kinematic constraints are developed. The proposed method is verified by simulation.