Workspace and Singularities Analysis of a 6-DOF Parallel Mechanism with Two Kinematic Chains for Platform Guidance

摘要

The aim of this paper is to present the workspace and singularity analysis of a parallel structure that can be used for complex operations such as micro-assembly, electronic circuit testing or for industrial laser cutting or manufacturing. Starting from the inverse geometrical model of the robot, its analytical workspace is determined. A brief look at different types of singularity points is presented. Conclusions and references are presented at the end of the paper.