Workspace Analysis of Calibrated Multi-position Synthesized 3-Prismatic-Revolute-Spherical Manipulator

This paper presents the workspace analysis of calibrated multi-position synthesized 3-prismatic-revolute-spherical (3-PRS) manipulator. The synthesis and workspace analysis of a multi-position manipulator are carried out by least square and Renka Cline gridding approaches. The position parameters such as position, orientation, direction, location of revolute-spherical joints are designed based on loop techniques. Based on manipulator constraints, the position parameters are synthesized and calibrated by comparing prescribed and obtained positions of revolute and spherical joints. The results are in close agreement with the positions of the 3-PRS manipulator. This work is used to obtain tip-tilt-position of the manipulator and is suitable in surgical, telescopic and space applications.