Efficient computation of the extremum of the articular velocities of a parallel manipulator in a translation workspace

This paper presents an efficient algorithm for computing, with a guaranteed error, the maximal and minimal articular velocities of a parallel manipulator so that whatever is the location of the end-effector in a given volume it may perform a motion at a given Cartesian/angular velocity, under the assumption that its orientation is kept constant over the volume. This algorithm is much more faster and safe than the classical discretisation method