The use of two manipulators is more effective than a single manipulator for manipulatory tasks such as assembly of an object from large parts. This paper presents an analysis of the kinematic and geometric properties for rectilinear parallel operation of two spatial manipulators. Two basis types of manipulators, a TRS robot and a PUMA robot, working in cooperation are considered. The analysis is based on a study of the motion and workspace boundaries of the manipulators.

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