This article describes a geometrical method used to analyze the workspace for parallel robot 2(3-RRPS). The algorithm, implemented in a CAD software, determines the workspace for a constant orientation. Mechanical restrictions of the robot and its influence in the workspace are considered. Actuator stroke, angular stroke of the joints in the base, angular travel of the ball joints on the platform, closing restriction and chain interference are the restrictions considered. Applications of the method are presented, such as the characterization of the workspace, the graphic obtaining of it for a range of orientations and the analysis of the effect that the joint limits have on it. Determination of the workspace for orientations range, shape parameters, quantification of the effect of a restriction on the volume, synthesis and dimensional optimization of the mechanism are examples presented to show the potentiality of the algorithm.

中文翻译：

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确定 2(3-RRPS) 并联机器人恒定定向工作空间的体积和形状的算法

本文介绍了一种用于分析并联机器人 2(3-RRPS) 工作空间的几何方法。该算法在 CAD 软件中实施，可确定恒定方向的工作空间。考虑了机器人的机械限制及其在工作空间中的影响。执行器行程、底座中关节的角行程、平台上球关节的角行程、关闭限制和链条干扰是考虑的限制。介绍了该方法的应用，例如工作空间的表征、一系列方向的图形获取以及关节限制对其影响的分析。确定工作空间的方向范围、形状参数、量化限制对体积的影响，