Workspace analysis of 5-PRUR parallel mechanisms (3T2R)

This paper investigates the constant-orientation workspace of five-degree-of-freedom parallel mechanisms generating the three translations and two independent rotations and comprising five identical limbs of the P̲RUR type. The general mechanism was proposed recently from the type synthesis performed for 5-DOF parallel mechanisms with identical limb structures. In this study, the emphasis is placed on the determination of the constant-orientation workspace using a geometric interpretation of the so-called vertex space, i.e., the motion generated by a limb for a given orientation. The geometric investigation is carried out using geometric constructive approach, which is implemented in a computer algebra system and in a CAD system. This paper shows that these two approaches are complementary tools to investigate the workspace of parallel mechanisms. The geometric constructive approach proposed in this paper bring insight into the architecture optimization and it can be regarded as a guideline for the workspace analysis of parallel mechanisms whose vertex spaces generate Bohemian dome.

► The constant-orientation workspace of 5-P̲RUR parallel mechanisms is studied here.
► The geometric constructive and CAD-based modelling complementary approaches are used here.
► Bohemian dome appears as the vertex space of the kinematic arrangements under study.
► The study is conducted on two classes of different kinematic arrangements, Γ={0,1}Γ={0,1}.
► The study can be extended to other parallel mechanisms having Bohemian dome as vertex space.