2020•Unpublished venueRequires access

Singularity representation and workspace determination of the parrallel robot PAR4

Ahlem Saidi, Neila Mezghani Ben Romdhane

Abstract

In this paper, the Singularity representation and workspace determination of the parrallel robot PAR4 are presented. The serial singularity (type 1) is determined using the kinematic matrix. This type of singularity indicates the unreachable points in the workspace. Based on the inverse geomatric model (MGI) of the parallel robot PAR4 the workspace is determined. Numerical results are presented showing some singularity of type 1 and their representation of the robot PAR4. Also, the workspace of this robot is presented.

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Available abstract

Key concepts: Workspace, Singularity, Representation (politics), Robot, Kinematics, Robot kinematics, Type (biology), Parallel manipulator