Workspace analysis and dimensional synthesis of the PRRS-RRC shoenflies-motion generator

Schoenflies-motion generators (SMGs) are 4-degrees-of-freedom (DOF) manipulators whose end effector can perform translations along three independent directions and rotations around one fixed direction (Schoenflies motions). Pick-and-place tasks are typical industrial applications that can be accomplished by these manipulators. In a previous paper, one of the authors proposed a novel single-loop not-overconstrained SMG of type PRRS-RRC with actuators on or near the base and decoupled kinematics, and presented its kinematic analysis. Here, its workspace analysis and its dimensional synthesis are addressed.