Algorithm to Determine the Volume and Shape of Constant Orientation Workspace for a 2(3-RRPS) Parallel Robot

This article describes a geometrical method used to analyze the workspace for parallel robot 2(3-RRPS). The algorithm, implemented in a CAD software, determines the workspace for a constant orientation. Mechanical restrictions of the robot and its influence in the workspace are considered. Actuator stroke, angular stroke of the joints in the base, angular travel of the ball joints on the platform, closing restriction and chain interference are the restrictions considered. Applications of the method are presented, such as the characterization of the workspace, the graphic obtaining of it for a range of orientations and the analysis of the effect that the joint limits have on it. Determination of the workspace for orientations range, shape parameters, quantification of the effect of a restriction on the volume, synthesis and dimensional optimization of the mechanism are examples presented to show the potentiality of the algorithm.