Workspace Analysis of a Spatial Parallel Manipulator with 3 DOF

The paper describes a workspace analysis of spatial parallel manipulator with three degrees-of-freedom. The workspace of the manipulator was calculated based on the direct kinematics with Newton-Raphson method by taking account of motion limit of spherical pairs. The dimensions of the manipulator were optimized to maximize its workspace. A new prototype of the manipulator was built with a rapid prototyping and was experimentally examined.