Concepts for Algebraic Formulation of Workplace of Parallel Manipulators

Since the workspace is a functional characteristic of primary importance both in design procedures and in operational characterizations, algorithms for determining the workspace of manipulators have always attracted interest at both theoretical and practical viewpoints. In this work, a geometric-analytical approach is proposed for determining the workspace of parallel manipulators by extending a modeling and consequent formulation that in general is applied to serial manipulators. The proposed formulation of an algebraic nature is based on the modeling and description of the geometry in the workspace generation of parallel manipulators.