            !  " #$%&’ ()* +,  " - . - / #$%&’ ()* +, /  0’ $%1 23%45 $6$ 07  8%1 94$         mme.modares.ac.ir            Please cite this article using: M. Rajabi, M. Mahboubkhah , Design and analysis of workspace, singularities and configuration of a new parallel robot with four degrees of freedom, Modares Mechanical Engineering, Proceedings of the Advanced Machining and Machine Tools Conference, Vol. 15, No. 13, pp. 41-45, 2015 (in Persian )            ! " #$ %"& &’          1             !" !" 2      !" !" * !" #$ %&’ ()***)+,,  mahboobkhah@tabrizu.ac.ir  !- ./0  1 234 .1 5 23 67 8 9:; <   =4 < >:  ? 2 2@ =4 7 23 67  A!B 6 <!%C 3 D .%!E  D7  7 67 F1 /- / C G7 3 ?% 7 %7 2@ HI D4 ; .7 .1 7 67 2 8  . < >: =JCK K 3 2K 7  1 2 2@  >: < = L-A .7 2!7 .: <  D 4 27!’ 2 2@ ? !7 2!7 D .%!E !- 73  MN%O 2K ?% <7P H! LN; 3 2 2@ >: ? Q 7 <JCK D  $ .7 @ < 8C 2 .:"B A 6  D 4 7 RN% G;  & .!7 7 MN%O N; S5 R!T 7  27 2@  < >: UK  67 !NCV ? "7 WV7 1 =: 8V 2’ 8 27!’  2 NV .  A!B 2B 8 % 9:; <  D 8V XY! 2@   F1 =: D4 7 S7 S5  %? 7 =:% 2 !"#$ %& Z S5 <7P 4 < >: 2 2@ Design and analysis of workspace, singularities and configuration of a new parallel robot with four degrees of freedom Marzieh Rajabi 1* , Mehran Mahboubkhah 2 1- Mechanical engineering, Tabriz University, Tabriz, Iran. 2- Department of Mechanical Engineering, Tabriz University, Tabriz, Iran * P.1.2. 513331444 Tabriz, Iran, mahboobkhah@tabrizu.ac.ir ABSTRACT In this research, a new parallel robot with four degrees of freedom is studied. The key important design stages of a parallel robot are obtaining its workspace and singularities. At first, the positions of the robot components were calculated using the inverse kinematic relations. Then, the workspace of the parallel mechanism has been obtained considering the limitations such as singularities. In this paper, various configurations have been analyzed to minimize these points in the workspace. Analysis of Jacobian matrix was used to assess the quality of the workspace. Also, by separating the workspace to some regions using a program that was written in Matlab, all of them are classified as areas with different coefficients of the local Dexterity. As a result, it was seen that asymmetry of the components can improve the performance of robot and reduce the singular points at the proposed robot configuration. Despite of asymmetry of the workspace, the structure of mechanism has been designed in order to obtain the highest rigidity and dexterity. Keywords: Dexterity, Jacobian Analysis, Singularity, Workspace.                 ! " #$! %   &’   (!)* + ,  -. / &, 0 1 ) 23 # &, (4 5! &6 7   189: ,  7;  <*=   ,, ,>* !?!  0 9 <- 5 &, 23   @ A  B&  C 5! C4 &’  ,D 4&, ,  E&   F  G> @! &H*  I!! 0 J 3 .  ! ?! K&/   B& &   + (L)=  &  K J D 4&,  ,    A C + ,D 4&, # &,  2 M K 6 ,D 4&,   K B& "  )/ A   K B&N 4&,  MC &- 4! ,& O , ,D 4&, 0 P - Q  &6 23 K   ( R@ S L)4   (T &,  , &6   !  &,&6 "6 & <D *K 7)/  < H TU  R@ V$ < 7)/ ! ,,C (.’ *> B&   W V$  ,  K,&/ &, X$6  & W " K,&/ (YZ  - ,& 7%* K& (+4 L   "   (> + = [  K K,  & (C& K < <D &, > &,  RK (.’ & ,, R)Z! \& !  ,Z  0 : 3 2 (C]  ( B& K  K &, <, *^ UL. @  (!)* 2 &, B&  &  ()@- )! &, 6 K  &, ! , ( _= 7   R> )/ W V$ 7= K&  " 2) +4  =  [  ! 7%* 7)> ‘Za B& K  , &, YM &/ <D 2K ;,  , 7 Downloaded from mme.modares.ac.ir at 10:07 IRST on Monday November 29th 2021