Utility workspace of 3-5r translational parallel mechanism

In the present paper, we discussed about a kinamatic design of 3-5R translational parallel mechanism with a large utility workspace. We defined the utility workspace as a closed area, from any point to other points in which the mechanism can move without suffering from singularity and workspace boundary. A computational algorithm of the volume of the utility workspace was proposed. We discussed about the utility workspace of 3-5R translational parallel mechanisms having three types of chain with consideration of actuation and constraint singularities. We obtained a 3-RUU translational parallel mechanism with a large utility workspace.