Mathematical Characterization of the Workspace of a 6-DOF Parallel Robot for Reverse Engineering
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.
KeywordsParallel Manipulator Reverse Engineering Inverse Kinematic Kinematic Chain Mobile Platform
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