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Workspace

• Code: WJPM-2002-01,   proposed by J-P. Merlet, INRIA, France, February 2002

  Let the maximal worskspace be defined as the set of locations that can be reached by the center of the platform of a parallel with at least one orientation. Is there always a singularity free path that allows to connect any 2 arbitrary poses of the maximal workspace ? What happens if interference between the kinematic chains of the robot is taken into account? If not can we separate the maximal workspace into different connected components ?

• Related works
   
  1. Merlet, J-P., Gosselin, C., Mouly, N., "Workspaces of planar parallel manipulators",Mechanism and Machine Theory, Vol 33 (1/2),pp. 7-20, January 1998 (shows that the maximal workspace of a planar parallel robot may be separated into different connected components)
• Status: open for the general case, in progress for planar robots

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