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The aim of this paper is to present developed 3 DOF haptic mechanism and 3D visualization method for analysis of mechanism manipulability problems within limited space. Improvement in mechanism manipulability within cylindrical space is crucial for devices, which operate in MR tunnel. This solution enables the plotting of quantitative 3D representation for each point in the mechanism\u27s workspace, using selected resolution which can be determined in advance. The cross-section between the limited space and the whole arbitrary workspace shows the ability for movement execution

Manipulability of a Haptic Mechanism within the Cylindrical Space of an MR Scanner