Hhe effects of design parameters on the workspace of a Turin parallel robot

摘要

In this paper an investigation is carried out to determine topologi- cal and design characteristics of the workspace of a Turin parallel robot named TuPaMan. We propose a procedure for the dimensional design of the device components. We mainly emphasize the motion capability of parallel robots, whose mechanical design may be scaled with respect to existing prototypes, by means of a characterization of the TuPaMan workspace. Additionally, orientation capability of the robot is evaluated through determining the workspace for a given orientation of the movable plate.