A geometrical method for computing the constant-orientation workspace of 6-PRRS parallel manipulators

This paper presents a geometrical method for the workspace analysis of 6-PRRS parallel manipulators. A geometric algorithm is described for the computation of the constant-orientation workspace, which was implemented in the CAD/CAM system CATIA. The influence of the different design parameters on the workspace, as well as on other properties of the manipulator, is discussed. In addition, a new representation of the mobile platform orientation is presented for easier interpretation of the orientation. Finally, examples are provided to demonstrate the usefulness of the method.