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

Abdel-Malek, 1997, On the determination of boundaries to manipulator workspaces, Robotics and Computer Integrated Manufacturing, 13, 63, 10.1016/S0736-5845(96)00023-3 Altuzarra, 2004, A practical procedure to analyze singular configurations in closed kinematic chains, IEEE Transactions on Robotics, 20, 929, 10.1109/TRO.2004.832798 Amine, 2012, Singularity conditions of 3T1R parallel manipulators with identical limb structure, Transactions of the ASME, Journal of Mechanisms and Robotics, 4 Bohigas, 2012, A complete method for workspace boundary determination on general structure manipulators, IEEE Transactions on Robotics, 28, 993, 10.1109/TRO.2012.2196311 Bonev, 2001, A new approach to orientation workspace analysis of 6-DOF parallel manipulators, Mechanism and Machine Theory, 36, 15, 10.1016/S0094-114X(00)00032-X Brand, 1947, 41 Crane, 1998, 175 Davidson, 1987, Robot workspace of a tool plane: Part 1–A ruled surface and other geometry, Transactions of the ASME, Journal of Mechanical Design, 109, 50, 10.1115/1.3258785 Ghosal, 2001, A differential-geometric analysis of singularities of point trajectories of serial and parallel manipulators, Transactions of the ASME, Journal of Mechanical Design, 123, 80, 10.1115/1.1325008 Gosselin, 1990, Determination of the workspace of 6-DOF parallel manipulators, Transactions of the ASME, Journal of Mechanical Design, 112, 331, 10.1115/1.2912612 Gosselin, 1990, Singularity analysis of closed-loop kinematic chains, IEEE Transactions on Robotics and Automation, 6, 281, 10.1109/70.56660 Gupta, 1982, Design considerations for manipulator workspace, Transactions of the ASME, Journal of Mechanical Design, 104, 704, 10.1115/1.3256412 Hao, 1998, Conditions for line-based singularities in spatial platform manipulators, Journal of Robotic Systems, 15, 43, 10.1002/(SICI)1097-4563(199812)15:1<43::AID-ROB4>3.0.CO;2-S Kong, 2007, 154 Korn, 2000, 13 Lee, 2012, Singularity and workspace analysis of three isoconstrained parallel manipulators with Schoenflies-motion, Frontiers of Mechanical Engineering, 7, 281, 10.1007/s11465-012-0324-5 Macho, 2013, Enlarging operational workspaces in parallel manipulators by connecting working modes. Application to the 3 RSS Robot, Robotica, 31, 539, 10.1017/S0263574712000574 Merlet, 1999, Determination of 6D workspaces of Gough-type parallel manipulator and comparison between different geometries, International Journal of Robotics Research, 18, 902, 10.1177/02783649922066646 Pernkopf, 2006, Workspace analysis of Stewart-Gough-type parallel manipulators, Proceedings of the Institution of Mechanical Engineers, Part C, Journal of Mechanical Engineering Science, 220, 1019, 10.1243/09544062JMES194 Rico, 1999, Screw theory and higher order kinematic analysis of serial and closed chains, Mechanism and Machine Theory, 34, 559, 10.1016/S0094-114X(98)00029-9 Schwartz, 1964, 29 Zlatanov, 1995, A unifying framework for classification and interpretation of mechanism singularities, Transactions of the ASME, Journal of Mechanical Design, 117, 566, 10.1115/1.2826720