M. Hadi Farzaneh Kaloorazi - University of Tehran
Mehdi Tale Masouleh
St´ephane Caro - IRCCyN/CNRS, UMR ۶۵۹۷, ۱ rue de la No¨e, ۴۴۳۲۱ Nantes, France

This paper proposes a systematic interval-based algorithm in order to obtain the maximal singularity-free sphere of 6-DOF parallel robots and as case study the 6-UPSparallel robot is considered. To this end, the main algorithm is divided into three sub-algorithms—for obtaining the constantorientation workspace, the singularity loci and the maximal singularity-free workspace—which eases the understanding of the main approach and leads to a more effective and robustalgorithm to solve the problem. The main contribution of this work can be regarded as the combination of the maximal singularity-free sphere with the workspace analysis as additional constraint to the problem