Optimized Change of Working and Assembly Mode of the SFB 562 TRIGLIDE-Robot

For the efficient use of parallel-robots”™ favorable capability of highly dynamic movements it is necessary to get a grip on their drawbacks. To bypass the commonly small ratio of workspace to installation-space an approach using several workspaces going along with different working and assembly modes was proposed earlier. Several singularities have to be passed in order to change between these workspaces. For a TRIGLIDE structure specifically designed for this purpose this paper presents optimized procedures to perform the necessary configuration change. They are based on passing two different singularities at the same time.