The aim of this paper is to compute of the generalized aspects, i.e. themaximal singularity-free domains in the Cartesian product of the joint spaceand workspace, for a planar parallel mechanism in using quadtree model andinterval analysis based method. The parallel mechanisms can admit severalsolutions to the inverses and the direct kinematic models. These singularconfigurations divide the joint space and the workspace in several notconnected domains. To compute this domains, the quadtree model can be made byusing a discretization of the space. Unfortunately, with this method, somesingular configurations cannot be detected as a single point in the jointspace. The interval analysis based method allow us to assure that nosingularities are not found and to reduce the computing times. This approach istested on a simple planar parallel mechanism with two degrees of freedom.
展开▼
