Abstract
Parallel manipulators, especially those with outputs as a translation and two rotations (1T2R), are being increasingly studied. The 3PRS mechanism is a very typical example of this category, but it has peculiar kinematic characteristics caused by parasitic motions and by low orientation capability. To overcome these problems, new mechanisms are being studied, such as the 2PRU-1PRS manipulator. As in the case of the 3PRS manipulator, the degrees of freedom of the 2PRU-1PRS are one translation along the Z-axis and two rotations about the X- and Y-axes. The advantages are that the parasitic motion appears only in one direction instead of in three and that the orientation capability is higher. In this paper we present the study of the workspace of a 2PRU-1PRS mechanism. In order to do this, we develop a code with an intuitive GUI (graphical user interface) that, for given variable limits, solves the inverse kinematic and obtains the useful workspace, and calculates the biggest sphere in it. Comparing the workspace of different 2PRU-1PRS manipulators we can see which variables have a greater influence on the useful workspace.
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