Analyse et conception d’un manipulateur parallèle spatial à cinq degrés de liberté

In this paper, the inverse kinematics, the dexterity and the workspace of a family of five-degree-of-freedom parallel manipulators are studied. These mechanisms are particularly interesting for applications in machine-tools. In order to obtain a simple representation of the workspace, the positioning workspace is determined for given orientations of the end-effector. The positioning workspace is obtained through a discretization algorithm. The velocity equations are developed and the Jacobian matrices are obtained. The dexterity of the manipulator is then determined using the conditioning of the latter matrices and dexterity plots are provided.