DIMENSIONAL SYNTHESIS OF STEWART PARALLEL MANIPULATORS WITH THE PRESCRIBED WORKSPACE AND DEXTERITY

The analytical representation of the spherical position workspace is formulated, using differential geometry. Having introduced the new concept called workspace radius difference, a new approach to synthesizing the radius of the primary workspace has been developed. With this method, the influence of the dimensional parameters on the position and orientation capabilities of the mobile platform is investigated, a synthesis method is also developed.