In this chapter, the limitations and weaknesses of the motion geometry and the workspace of Triangle-Star Robot {T-S (3-PRP)} are diagnosed after research and consideration of the issues at hand. In addition, they are offered in index form. To remove the problems with the abovementioned cases, at first, a robot with telescopic arms and a similar kinematics chain is rendered to give a kinematics analysis approach like Hartenberg-Denavit. Furthermore, in order to increase the workspace, Reuleaux Triangle-Star Robot {RT-S (3-PRP)} with kinematics chains 3-PRP and Circle-Star Robot{C-S (3-PRP)} with kinematics chains 3-PRP and a new improved structure are introduced.
Part of the book: Recent Advances in Robotic Systems