Algorithms for identifying closed form surface patches on the boundary of 5DOF manipulator workspaces are developed and illustrated. Numerical algorithms for the determination of three- and four-DOF manipulator workspaces are available, but formulations for determining equations of surface patches bounding the workspace of five-DOF manipulators were never presented. In this work, constant singular sets in terms of the generalized variables are determined. When substituted into the vector function yield hyperentities that exist internal and external to the workspace envelope. The appearance of surfaces parametrized in three variables within the workspace requires further analysis pertaining to a coupled singular behavior and is also addressed. Previous results pertaining to bifurcation points that were unexplained are now addressed and clarified. Numerous examples are presented.

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