Enlarging operational workspaces in parallel manipulators by connecting working modes. Application to the 3<i><u>R</u>SS</i> robot

摘要

SUMMARY The aim of this paper is to describe a general methodology for enlarging the workspace within which a parallel manipulator can move in a controllable way. The basis for obtaining this consists in superimposing all the singularity-free regions associated with the various different robot working modes. These can be connected because such transitions do not imply a loss of control of the manipulator. This enlarged operational workspace is associated with a certain assembly mode. In addition, the strategy to be used for path planning in this kind of workspace is presented.