Analysis of Multi-operational Capacity of a Parallel Manipulator

In this paper, a general methodology for the analysis and design of the multi-operational capacity of parallel manipulators is partially presented. On the one hand, the basic principles of this methodology are exposed. In particular, the structural characteristics of the kinematic chains forming the legs of the manipulator are defined. On the other hand, and as an illustrative example, this methodology will be applied to the kinematic analysis of the 3-RPS manipulator. To do so, coming from the aforementioned manipulator, a 6 degree-of-freedom manipulator will be generated such that it contains the 3-RPS manipulator from the geometric point of view. Subsequently, the well-known velocity equations of the 3-RPS manipulator will be obtained together with the equations that relate among them the output variables of the manipulator.