This paper presents a simple and systematic approach to formulate the inverse position problem of a Schönflies parallel manipulator. As a result, the inverse position problem is solved in closed form and leads directly to the automatic generation of the workspace of the manipulator. Additionally, a systematic velocity analysis is also presented, which allows to detect and characterize all the singularities related to this manipulator.
Cervantes-Sánchez, J. J., Rico-Martínez, J. M., & Pérez-Muñoz, V. H. (2016). An integrated study of the workspace and singularity for a Schönflies parallel manipulator. Journal of Applied Research and Technology, 14(1), 9–37. https://doi.org/10.1016/j.jart.2016.01.004