Manipulability analysis of gantry-tau parallel manipulator

Gantry-Tau is a type of parallel manipulators with three linear actuators. Manipulability is one of the challenges in Gantry-Tau manipulators. In this research, the kinematics of a Gantry-Tau manipulator is presented. The manipulability of the mechanism in orienting and positioning of the platform is addressed. The manipulating ability of manipulator is developed and formulated considering the manipulator large workspace using its kinematics and manipulability index relations. The results of manipulability simulation are also illustrated.