Defining of a Workspace of the 3-PRPS Type Tripod

This paper is devoted to define of a workspace of the 3-PRPS type tripod, where P, R and S are prismatic, revolute and spherical kinematic pairs, respectively. This tripod is formed by connecting the moving and fixed platforms through three passive closing kinematic chains of the PRPS type. Prismatic kinematic pairs which are located on the fixed platform and leg are active kinematic pairs. The constant and variable parameters of the tripod characterizing its geometry and kinematics, respectively, are determined. A workspace of the 3-PRPS type tripod is determined on the basis of the solution of the inverse kinematics problem. Numerical results of defining a workspace of the tripod are presented.