Determination of the Safe Working Zone of a Parallel Manipulator

  • Rangaprasad Arun Srivatsan
  • Sandipan BandyopadhyayEmail author
Conference paper
Part of the Mechanisms and Machine Science book series (Mechan. Machine Science, volume 15)


This paper formalises the concept of safe working zone (SWZ) of a parallel manipulator, which is a subspace of the workspace that is free of singularities as well as issues of joint limits and link interference. It presents further a generic scheme to identify such a space, and specialises the same for the case of a convex SWZ around a chosen point of interest. The theoretical developments are illustrated via an application on a three-degree-of-freedom spatial parallel manipulator, namely, MaPaMan-I.


Parallel mechanisms  Workspace  Singularities  Link interference  Joint limits  


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Copyright information

© Springer Science+Business Media Dordrecht 2014

Authors and Affiliations

  • Rangaprasad Arun Srivatsan
    • 1
  • Sandipan Bandyopadhyay
    • 1
    Email author
  1. 1.Department of Engineering DesignIndian Institute of Technology MadrasMadrasIndia

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