Characterizing the configuration space of the 3-SPS-S spatial orientation parallel manipulator

In this paper, a complete analysis of configuration space entities of a three-degree-of-freedom spatial orientation manipulator is presented. In particular, the 3-SPS-S architecture with fixed joints located on an orthogonal frame is studied. At the design stage, the evaluation of the workspace of the manipulator constitutes an important issue. Besides, obtaining other entities such as joint space, in which the inputs are established, or the reduced configuration space, entity that relates inputs and outputs, gives an overall idea of the characteristics offered by each design. Comparison among different designs of the 3-SPS-S is carried out, analyzing the ability of transitioning between solutions and its influence on the resultant workspace.