ROMANSY 11 pp 37-44 | Cite as

Workspaces of Planar Parallel Manipulators

  • J-P. Merlet
  • C. M. Gosselin
  • N. Mouly
Part of the International Centre for Mechanical Sciences book series (CISM, volume 381)


This paper presents geometrical algorithms for the determination of various workspaces of planar parallel manipulators. Workspaces are defined as regions which can be reached by a reference point C located on the mobile platform. First, the maximal workspace is determined as the region which can be reached by point C with at least one orientation. From the above regions, the inclusive workspace, i.e., the region which can be attained by point C with at least one orientation in a given range, can be obtained. Then, the total orientation workspace, i.e., the region which can be reached by point C with every orientation of the platform in a given range, is determined. Three types of planar parallel manipulators are described and one of them is used to illustrate the algorithms.


Parallel Manipulator Mobile Platform Parallel Robot Annular Region Extreme Length 
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Copyright information

© Springer-Verlag Wien 1997

Authors and Affiliations

  • J-P. Merlet
    • 1
  • C. M. Gosselin
    • 2
  • N. Mouly
    • 3
  1. 1.INRIASophia-AntipolisFrance
  2. 2.Laval UniversitySte-FoyCanada
  3. 3.INRIAGrenobleFrance

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