Determination of the Workspace of Parallel Manipulators Using a CAD Software and the Concept of Virtual Chains

Andrew Johnson*, Xianwen Kong

*Corresponding author for this work

Research output: Chapter in Book/Report/Conference proceedingConference contribution


Development of a new parallel manipulator can be very time consuming due to the traditional method of producing kinematic, dynamic and static calculation models and then evaluating them to determine aspects of the manipulator's performance indices such as the mechanism's workspace and singularity analysis. By extending the virtual chain approach to the type synthesis of parallel manipulators, this paper proposes a virtual-chain approach to the workspace analysis of parallel manipulators. This method is illustrated by producing and evaluating the workspace of several parallel robots including the well known DELTA robot by utilising the three-dimensional CAD software Solid Works to produce a virtual prototype of a manipulator with an embedded virtual chain. The virtual chain represents the motion pattern of a manipulator's end-effector and is very useful in the production of a graphical representation of the workspace of the manipulator. Using this approach, the link interferences and transmission indices can be easily taken into consideration in determining the workspace of a parallel manipulator.

Original languageEnglish
Title of host publicationASME 2013 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference
PublisherAmerican Society of Mechanical Engineers
Number of pages7
VolumeVol 6A
ISBN (Print)978-0-7918-5593-5
Publication statusPublished - 2014
Event37th Mechanisms and Robotics Conference - Portland, Oregon, United States
Duration: 4 Aug 20137 Aug 2013


Conference37th Mechanisms and Robotics Conference
Country/TerritoryUnited States
CityPortland, Oregon




Dive into the research topics of 'Determination of the Workspace of Parallel Manipulators Using a CAD Software and the Concept of Virtual Chains'. Together they form a unique fingerprint.

Cite this