Multi-loop parallel structures of platform manipulators present challenge to their design analysis. For studying the workspace of the 3-6 class of platforms, we developed the “vertex space” concept in Ji (1994). This paper extends the “vertex space,” concept to other structures for analysing and comparing their workspaces. We classify the vertices of the platform manipulators into types A and B. The platform manipulators are then divided into four groups based on their vertex types. Design parameters in platform manipulators are studied in terms of their functions and effects to vertex spaces and workspace.

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