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The document presents a study on the workspace of the 2PRU-1PRS parallel manipulator, highlighting its advantages over the 3PRS manipulator, particularly in terms of reduced parasitic motion and improved orientation capability. A code with a graphical user interface (GUI) was developed to calculate the useful workspace and the largest sphere within it, considering various geometric parameters and constraints. The study employs discretization methods to analyze the workspace and identifies the influence of d

Author

anubhav mishra

Language

EN