A desired workspace can be described by a set of points, which prescribe desired positions and orientations of the movable plate of a parallel manipulator. In this paper we have proposed a formulation for designing CaPaMan (Cassino Parallel Manipulator) when position and orientation of the movable plate are prescribed. A numerical procedure has been deduced to solve design parameters by using analytical formulation of Direct and Inverse Kinematics for CaPaMan architecture.

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