Romansy 14 pp 21-30 | Cite as

Mathematical Characterization of the Workspace of a 6-DOF Parallel Robot for Reverse Engineering

  • Eduardo Castillo-Castañeda
  • Alejandra Sánchez-Flores
  • Carlós Lopez-Cajún
Part of the International Centre for Mechanical Sciences book series (CISM, volume 438)


In this work, the inverse kinematics and the determination of the workspace of a 6 degree-of-freedom parallel robot, is presented. Computer simulations results are included, that allow to visualize the workspace shape and to decompose it in simpler geometric entities. These are used to characterize mathematically the workspace as a function of the manipulator’s parameters. Moreover, this characterization allows to carry out reverse engineering, that is, in function of the workspace needed for executing a certain task, one would be able to design the robot that guarantees the reachability of the whole set of points.


Parallel Manipulator Reverse Engineering Inverse Kinematic Kinematic Chain Mobile Platform 
These keywords were added by machine and not by the authors. This process is experimental and the keywords may be updated as the learning algorithm improves.


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Copyright information

© Springer-Verlag Wien 2002

Authors and Affiliations

  • Eduardo Castillo-Castañeda
    • 1
  • Alejandra Sánchez-Flores
    • 1
  • Carlós Lopez-Cajún
    • 1
  1. 1.Facultad de IngenieríaUniversidad Autónoma de QuerétaroMéxico

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