Path generation with singularity avoidance for five-bar slider-crank parallel manipulators

Parallel manipulators are usually defined as closed-loop multi-degree of freedom linkages which can provide not only versatility required in many industrial applications, but also high operational speed, high load-bearing and high output precision capabilities. The path generation capability of five-bar slider-crank parallel manipulators is investigated in this paper. Five-bar slider-crank parallel manipulators are classified into two types under the condition that no dead point position exists in the linkages. The workspace of each type of linkage is derived by means of curve-enveloping theory. Singularity characteristics and linkage configurations are presented. Singularity-free path generation capability is analyzed for each type of linkage. Five-bar slider-crank parallel manipulators can be used as effective path generators if properly designed.