Forward Kinematics and Workspace Determination of a Novel Redundantly Actuated Parallel Manipulator

Table 4

Architecture parameters of the proposed mechanism.

Parameter	Value	Parameter	Value
	0.15		[-60,60]
	0.25		[-60,60]
	[0.3,0.8]		[-45,45]
	[0.2,1.0]		[-45,45]