The Atlases of Reachable Workspace for Spherical 3-DOF Parallel Manipulators

In this paper,the determination,the expression and the calculation for the reachable workspace of spherical 3-DOF parallel manipulators are presented.The workspaces of the manipulators are systematically studied by physical model of the solution space.And the atlases for the reachable workspace are plotted.The results obtained are very useful for the design of manipulators.