The parallel robot with the drive motor is fixed to the base for reduced weight and high-speed response. Therefore, they are especially important in the field of placing objects. However, its major drawback is that there are too many singularities and holes that reduce its workspace. This thesis presents how to study the extension of the workspace for the 5-bar parallel robot. It consists of 2 main steps: designing asymmetric robot configuration in the horizontal plane to minimize the singularity defect. And the second is to develop an algorithm that plots all possible paths of the robot. The simulations were performed on Matlab Simulink to evaluate the effectiveness of the method of expanding the workspace for the five-bar parallel robot.

Parallel Robot, Multi-workspace, Mechanism design