An integrated study of the workspace and singularity for a Schönfliesparallel manipulator

Abstract

This paper presents a simple and systematic approach to formulate the inverse position problem of a Schönflies parallel manipulator. As aresult, 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.