Abstract
A systematic procedure is developed to identify the manipulation boundary and to characterize the workspace of a five-bar manipulator. This is done by partitioning the joint coordinates into a dependent and independent set. The expression for the coordinates of the wrist in terms of joint coordinates is derived. By using the Implicit Function Theorem, it is shown that the jacobian of these coordinates with respect to independent joint coordinates vanishes at the boundary. Explicit form of the condition for vanishing jacobian is derived for five-bar manipulators. These conditions are used to identify the workspace. Sub-region of workspace where four, two, and no solution exists are identified.
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