an integrated study of the workspace and singularity for a schnflies parallel manipulator英文.pdf

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Journal of Applied Research
and Technology


Journal of Applied Research and Technology 14 (2016) 9–37
Original

An integrated study of the workspace and singularity for a Schönflies
parallel manipulator
∗



J. Jesús Cervantes-Sánchez , José María Rico-Martínez, Víctor Hugo Pérez-Munoz˜

Universidad de Guanajuato, DICIS, Departamento de Ingeniería Mecánica, 36885 Salamanca, Guanajuato, Mexico

Received 4 August 2015; accepted 26 January 2016

Available online 3 March 2016
Abstract

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