Architecture optimisation of three 3-RS variants for parallel kinematic machining

The 3-P̲RS parallel manipulator has recently been prototyped as a machining centre. PRS denotes the prismatic–revolute–spherical architecture of each limb where only the prismatic joint is actuated and hence underlined. Three variations of this manipulator have been independently presented in the literature. The architectural parameters affecting the size of the dexterous workspace volume are identified for each of the three models. The...