Abstract
This chapter deals with a geometric determination of the theoretical and usable workspace for a parallel mechanism. Several parallel mechanisms including a planar 5R parallel mechanism, a DELTA mechanism, several 3-DOF spatial parallel mechanisms, and 6-RUS parallel mechanism are illustrated. In particular, the orientational workspace of 3-[PP]S type of parallel mechanism with a high rotational capability is described in detail. The workspaces presented in this chapter are actually a foundation on determining other two types of workspaces, i.e., the good-condition workspace and good-transmission workspace discussed in the following chapter.
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Liu, XJ., Wang, J. (2014). Workspace of Parallel Mechanisms. In: Parallel Kinematics. Springer Tracts in Mechanical Engineering. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-642-36929-2_6
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DOI: https://doi.org/10.1007/978-3-642-36929-2_6
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