Ram Kumar, C. Karthikeyan, and Anjan Kumar Dash


  1. [1] C. M. Gosselin, Determination of the workspace of 6-DOF parallel manipulators, ASME journal of MechanicalDesign (1990), 112, pp 331-336
  2. [2] E.F. Fichter, “A Stewart platform-based manipulator : General theory and practical construction”, Int. J. RoboticsRes. 5 (2) (1986) 157-182
  3. [3] Anjan Kumar Dash, I-Ming Chen, Song Huat Yeo, and Guilin Yang, “Workspace generation and planningsingularity-free path for parallel manipulators”, Mechanism and Machine Theory 40 (2005) 776–805
  4. [4] T. Arai, T. Tanikawa, J.-P. Merlet, T. Sendai, “Development of a new parallel manipulator with fixed linearactuator,” in: ASME Japan/USA Symposium on Flexible Automation, vol. 1, Boston, 1996, pp. 145-149.
  5. [5] J.P. Conti, C.M. Clinton, G. Zhang, A.J. Wavering, Technical Research Report 97-28, ISR, University ofMaryland, MD, 1997.
  6. [6] O. Masory, J. Wang, “Workspace evaluation of Stewart platforms” ASME 22nd Biennial MechanismsConference, vol. 45, Scottsdale, 1992, pp. 337-346.
  7. [7] Castelli G, Ottaviano E, Ceccarelli M., “A fairly general algorithm to evaluate workspace characteristics of serialand parallel manipulators”, Mechanics Based Design of Structures and Machines 2008; 36:14–3
  8. [8] Haug EJ, Luh CM, Adkins FA, Wang JY. Numerical algorithms for mapping boundaries of manipulatorworkspaces. ASME J Mech Design 1996;118(1): 228–34.
  9. [9] Wang Z, Wang Z, Liu W, Lei Y. “A study on workspace, boundary workspace Analysis and workpiecepositioning for parallel machine tools”, Mech Mach Theory 2001;36(5):605–22.
  10. [10] Zhao J, Feng Z, Zhou K. “On the workspace of spatial parallel manipulator with multi-translational degrees offreedom”, Int J Adv Manuf Technol 2005;27(1): 112–8.
  11. [11] Zhao J, Zhang S, Dong J, Feng Z, Zhou K., “Optimizing the kinematic chains for a spatial parallel manipulatorvia searching the desired dexterous workspace”, Robot Comput Integr Manuf 2005;23:38–46.
  12. [12] Chablat D, Wenger P, Majou F, Merlet JP. An interval analysis based study for the design and the comparison ofthree-degrees-of-freedom parallel kinematic machine”, Int J Robot Res 2004;23(6):615–24.
  13. [13] Snyman JA, du Plessis LJ, Duffy J., “An optimization approach to the determination of the boundaries ofmanipulator workspaces, “ASME J Mech Des 2000;122:447–56.
  14. [14] Hay AM, Snyman JA., “The chord method for the determination of nonconvex workspaces of planar parallelmanipulators”, Comput Math Appl 2002;43: 1135–51
  15. [15] C.M. Gosselin, E. Lavoie, P. Toutant, “An Efficient Algorithm for the Graphical Representation of the ThreeDimensional Workspace of Parallel Manipulators”, ASME 22nd Biennial Mechanisms Conference, vol. 45,Scottsdale, 1992, pp. 323-328
  16. [16] I.A. Bonev, J. Ryu, A new approach to orientation workspace analysis of of 6-dof parallel manipulators,Mechanism and Machine Theory 36 (1) (2001) 15–28
  17. [17] I.A. Bonev, J. Ryu, A geometrical method for computing the constant orientation workspace of 6-prrs parallelmanipulators, Mechanism and Machine Theory 36 (1) (2001) 1–13.
  18. [18] O. Masory and J. Wang, “Workspace evaluation of Stewart platforms” Advanced Robotics, 01/1994; 9:443-461.
  19. [19] H. Li, C. M. Gosselin, and M. J. Richard, “Determination of the maximal singularity-free zones in the six-dimensional workspace of the general Gough–Stewart platform”, Mechanism and Machine Theory 42 (2007) 497–511.
  20. [20] K.Y. Tsai, I-Ting Lo 1, and P.J. Lin, “Compatible reachable workspaces of symmetrical Stewart–Gough parallelmanipulators” Mechanism and Machine Theory 77 (2014) 111–121
  21. [21] R.P. Podhorodeski and K. H. Pittens, “A Class of Parallel Manipulators Based on Kinematically SimpleBranches” J. Mech. Des. 116(3), 908-914, 1994
  22. [22] L. Notash and R. P. Podhorodeski, “Complete forward displacement solutions for a class of three branch-parallelmanipulators”, Journal of Robotics Systems, 11(6), 471-485, 1994.
  23. [23] J. Angeles, G. Yang and I-M. Chen, “Singularity analysis of three-legged, six-DOF platform manipulators withRRRS legs”, IEEE/ASME International Conference on Advanced Intelligent Mechatronics, 2001. Volume: 1
  24. [24] P. Ben-Horin and M. Shoham, “Singularity analysis of a class of parallel robots based on Grassmann–Cayleyalgebra”, Mechanism and Machine Theory, Volume 41, Issue 8, August 2006, Pages 958-970
  25. [25]Yu Qian, Qiang Wang, Guilan Chen, Jinghu Yu, Yi Cao, “Workspace and singularity analysis of 3/3-rrrs parallelmanipulator”, Journal of Theoretical and Applied Information Technology, 2013. Vol. 48 No.3, PP. 2005 – 2013
  26. [26] Alon Wolf, Daniel Glozman, “Singularity Analysis of Large Workspace 3RRRS Parallel Mechanism Using LineGeometry and Linear Complex Approximation”, Journal of Mechanisms and Robotics, FEBRUARY 2011, Vol. 3 /011004 1-9
  27. [27]Z. Ji, “Workspace Analysis of Stewart Platforms via Vertex Space”, J. Robotic Syst. 11 (7) (1994) 631-639.
  28. [28]Banke Bihari, Dhiraj Kumar, Chandan, Vijay S. Rathore, and Anjan Kumar Dash,“A geometric approach for theworkspace analysis of two symmetric planar parallel manipulators”, Robotica, article in press.
  29. [29] Qimi Jiang, Clément M. Gosselin, “Determination of the maximal singularity-free orientation workspace for theGough-Stewart platform”, Mechanism and Machine Theory, Vol 44(6), 2009, Pages 1281-1293.
  30. [30] Haidong Li, Clément M. Gosselin, Marc J. Richard, “Determination of the maximal singularity-free zones in thesix-dimensional workspace of the general Gough-Stewart platform”, Mechanism and Machine Theory, Vol 42(4),2007, Pages 497-511
  31. [31] L. S. Chkhartishvili, “Volume of the Intersection of Three Spheres,” Mathematical Notes, Vol. 69, No. 3, 2001,pp. 421-428
  32. [32] ‘Robotics and control’, Mittal & Nagrath, Tata McGraw-Hill Education, 2003
  33. [33] D. Chablat and Ph. Wenger, "Working modes and aspects in fully parallel manipulators, Proceedings. 1998 IEEEInternational Conference on Robotics and Automation (Cat. No.98CH36146), pages: 1964 - 1969 vol. 3
  34. [34] ‘Advances in robot kinematics: Analysis and control’, Lenarcic and Husty (editors), Kluwer Academic Publisher,1998
  35. [35]J.P. Merlet, “Direct kinematics and assembly modes in parallel manipulators”, IJRR, Vol 11(2), pp. 150-162
  36. [36] H. Yu, B. Li, X. Yang, and Y. Hu, “Structural synthesis and variation analysis of a family of 6-DOF parallelmechanisms with three limbs, Intl. Journal of Robotics and automation, Vol 25(2), pp: 121-131, 2010.
  37. [37] Y. Lu and B. Hu, “Determining singularity of parallel manipulators with n linear active legs by CAD variationgeometry”, Intl. Journal of Robotics and automation, Vol 23(3), pp. 160-167, 2008
  38. [38] M. Zoppi, L.E. Bruzzone, and R.M. Molfino, “Position analysis of a class of translational parallel mechanisms”,Intl. Journal of Robotics and automation, Vol 19(3), pp. 160-167, 2004
  39. [39] “Kinematics design of reconfigurable parallel manipulators”, PhD thesis by Anjan Kumar Dash, NanyangTechnological University, Singapore, 2002
  40. [40] Anjan Kumar Dash, I-Ming Chen, Song Huar Yeo, Guilin Yang, “Instantaneous kinematics and singularityanalysis of three legged parallel manipulators”, Robotica, Vol 22(2), pp.189-203, 2004
  41. [41]Y. Zhao et al, “Inverse kinematics and rigid-body dynamics for a three rotational degrees of freedom parallelmanipulator”, Robotics and Computer-Integrated Manufacturing, 31:40–50, 2015
  42. [42] Y. Zhao, “Singularity, isotropy and velocity transmission evaluation of a three translational degrees of freedomparallel robot”, Robotica, 31(2): 193-202, 2013

Important Links:

Go Back