Working space of the b type parallel manipulators

摘要

The mechanism of B type parallel manipulators consists of three kinematical chains guiding a travelling plate rigidly atached to the end effector.Each inematicla chain contains,from base to end effector,two acturating joints (T or R) of 1 DOF each or one cylindrical joint (C) of 2 DOF,one sphercial passive joint (S) with 3 DOF and one passive revolute joint (R) with 1 DOF.