An integrated study of the workspace and singularity for a Schönfliesparallel manipulator

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


This paper presents a simple and systematic approach to formulate the inverse position problem of a Schönflies parallel manipulator. As aresult, the inverse position problem is solved in closed form and leads directly to the automatic generation of the workspace of the manipulator.Additionally, a systematic velocity analysis is also presented, which allows to detect and characterize all the singularities related to this manipulator.


Workspace; Singularity; Schönflies parallel manipulator

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