Abstract
In this paper, we discuss about workspace of a 3-5R (three connecting chain, five revolute joints in each connecting chain) translational spatial parallel mechanism with consideration of singularity. At first, we derive the conditions of two singularities: actuation and constraint singularities. Secondly, we analyze the workspace of a mechanism with one type of connecting chain with consideration of singularity. In order to enlarge the area, which does not include any singularity in the workspace, ratio of link lengths and angle of adjacent revolute joints are investigated. Numerical examples are shown.
