Resumen

CERVANTES-SANCHEZ, J. Jesús; RICO-MARTINEZ, José María  y  PEREZ-MUNOZ, Víctor Hugo. An integrated study of the workspace and singularity for a Schönflies parallel manipulator. J. appl. res. technol [online]. 2016, vol.14, n.1, pp.9-37. ISSN 2448-6736.  https://doi.org/10.1016/j.jart.2016.01.004.

This paper presents a simple and systematic approach to formulate the inverse position problem of a Schönflies parallel manipulator. As a result, the inverse position problem is solved in closed form and leads directly to the automatic generation of the workspace of the manipulator. Additionally, a systematic velocity analysis is also presented, which allows to detect and characterize all the singularities related to this manipulator.

Palabras llave : Workspace; Singularity; Schönflies parallel manipulator.