SMARP: A Tool for Parallel Manipulators Design and Simulation

Abstract

We present a new tool used to design and simulate parallel robots in their environments. Explicit kinematic equations, for a given architecture, are generated automatically. The user has the choice of specifying, among all the variables, the input and the output of the mechanism. We also present a method to generate a path of the end effector and to detect singularities along the generated path.