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The SWZ is defined as a continuous subset of the workspace, wherein the manipulator does not suffer any singularity, and is also free from the issues of link interference and physical limits on its joints. The proposed theory is illustrated via application to two parallel manipulators: a planar 3-R\u0332RR manipulator and a spatial manipulator, namely, MaPaMan-I. It is also shown how the analyses can be applied to any parallel manipulator having three degrees of freedom, planar or spatial.<\/jats:p>","DOI":"10.1017\/s0263574719001139","type":"journal-article","created":{"date-parts":[[2019,7,25]],"date-time":"2019-07-25T07:14:14Z","timestamp":1564038854000},"page":"861-885","source":"Crossref","is-referenced-by-count":21,"title":["Computation of the safe working zones of Planar and Spatial Parallel Manipulators"],"prefix":"10.1017","volume":"38","author":[{"given":"Murali K.","family":"Karnam","sequence":"first","affiliation":[]},{"given":"Aravind","family":"Baskar","sequence":"additional","affiliation":[]},{"given":"Rangaprasad A.","family":"Srivatsan","sequence":"additional","affiliation":[]},{"ORCID":"https:\/\/orcid.org\/0000-0003-4462-8839","authenticated-orcid":false,"given":"Sandipan","family":"Bandyopadhyay","sequence":"additional","affiliation":[]}],"member":"56","published-online":{"date-parts":[[2019,7,25]]},"reference":[{"key":"S0263574719001139_ref22","unstructured":"22. Pott, A. , \u201cEfficient Computation of the Workspace Boundary, its Properties and Derivatives for Cable-Driven Parallel Robots,\u201d Proceedings of the International Conference on Computational Kinematics, Poitiers, France (2018) pp. 190\u2013197."},{"key":"S0263574719001139_ref1","unstructured":"1. Srivatsan, R. A. and Bandyopadhyay, S. , \u201cDetermination of the Safe Working Zone of a Parallel Manipulator,\u201d Proceedings of the International Conference on Computational Kinematics, Barcelona, Spain (2014) pp. 201\u2013208."},{"key":"S0263574719001139_ref25","unstructured":"25. Patel, D. , Kalla, R. , Tetik, H. , Kiper, G. and Bandyopadhyay, S. , \u201cComputing the Safe Working Zone of a 3-RRS Parallel Manipulator,\u201d Proceedings of the 6th European Conference on Mechanism Science (EUCOMES), Nantes, France (2016) pp. 113\u2013120."},{"key":"S0263574719001139_ref21","unstructured":"21. 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