A Web-based Tool to Analyze the Kinematics and Singularities of Parallel Robots
Adrián Peidró, Arturo Gil, José María Marín, Óscar Reinoso
Journal of Intelligent and Robotic Systems  (2016)
Ed. Springer  ISSN:0921-0296  DOI:10.1007/s10846-015-0220-4  - Volume 81, Issue 1, pp 145–163


This paper presents PAROLA, a new web-based educational tool whose aim is to experiment with the kinematics and singularities of parallel robots. The tool is designed to help students simulate the inverse and forward kinematic problems of three parallel robots in an intuitive and graphical way. The problems of singularities and path planning can also be studied with the tool. PAROLA is the first tool to present the motion of the parallel robots simultaneously in the Cartesian and joint spaces to better explain the singularity and path planning problems, allowing students to freely modify the geometry of the robots to analyze the variation of singularities in both spaces. Furthermore, the tool includes a real parallel robot that the students can control over the Internet to conduct remote experiments. The paper describes some examples that show the utility of the proposed tool in learning parallel robotics.