DETERMINATION OF THE WORKSPACE OF A 3-<u>P</u>RPR PARALLEL MECHANISM FOR HUMAN-ROBOT COLLABORATION

Abstract

This paper presents an algorithm, based on a geometric approach, to obtain the workspace of a parallel manipulator. For several steps in the process, a short review of different methods is presented, along with the presentation of the preferred algorithm. This work was performed in the context of the design of a robot for human-robot collaboration, which is also presented as an example.