1. Date of download: 11/15/2017
Copyright © ASME. All rights reserved.
Determination of the Workspace of a Three-Degrees-of-Freedom Parallel Manipulator Using a Three-Dimensional Computer-Aided-Design Software Package and the Concept of Virtual Chains1
J. Mechanisms Robotics. 2015;8(2): doi: /
Figure Legend:
3-RPS parallel manipulator

2. Date of download: 11/15/2017
Copyright © ASME. All rights reserved.
Determination of the Workspace of a Three-Degrees-of-Freedom Parallel Manipulator Using a Three-Dimensional Computer-Aided-Design Software Package and the Concept of Virtual Chains1
J. Mechanisms Robotics. 2015;8(2): doi: /
Figure Legend:
Six degrees-of-freedom VC composed of three virtual P joints and three virtual R joints

3. Date of download: 11/15/2017
Copyright © ASME. All rights reserved.
Determination of the Workspace of a Three-Degrees-of-Freedom Parallel Manipulator Using a Three-Dimensional Computer-Aided-Design Software Package and the Concept of Virtual Chains1
J. Mechanisms Robotics. 2015;8(2): doi: /
Figure Legend:
3-RPS parallel manipulator with a VC integrated

4. Date of download: 11/15/2017
Copyright © ASME. All rights reserved.
Determination of the Workspace of a Three-Degrees-of-Freedom Parallel Manipulator Using a Three-Dimensional Computer-Aided-Design Software Package and the Concept of Virtual Chains1
J. Mechanisms Robotics. 2015;8(2): doi: /
Figure Legend:
Sections of the workspace with a vertical position of: (a)z = 142.5 mm, (b) z = 137.5 mm, (c) z = 132.5 mm, (d) z = 127.5 mm, (e) z = 122.5 mm, (f) z = 117.5 mm, (g) z = 112.5 mm, (h) z = 107.5 mm, and (i) z = 102.5 mm