CAD-Based Workspace Analysis of a 6-DOF Foldable Parallel Manipulator with a Circular Rail (FoldRail Manipulator)

Nowadays, computer-aided design (CAD) finds many applications in the development and analysis of manipulators and robots. It accurately reflects the design features of the considered mechanical system, including the geometry and material of its links. This article applies CAD tools to analyze a workspace of a 6-DOF foldable parallel manipulator with a circular rail (FoldRail manipulator). The article proposes an algorithm to determine a translation (constant orientation) workspace of the manipulator using a geometrical method implemented in the SolidWorks software. The combination of this method and a CAD model of the manipulator allows considering all of its design features. The results are presented for the horizontal and tilted orientations of the output link.