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Workspace and joint space analysis are essential steps in describing the taskand designing the control loop of the robot, respectively. This paper presentsthe descriptive analysis of a family of delta-like parallel robots by usingalgebraic tools to induce an estimation about the complexity in representingthe singularities in the workspace and the joint space. A Gr{\"o}bner basedelimination is used to compute the singularities of the manipulator and aCylindrical Algebraic Decomposition algorithm is used to study the workspaceand the joint space. From these algebraic objects, we propose some certifiedthree dimensional plotting describing the the shape of workspace and of thejoint space which will help the engineers or researchers to decide the mostsuited configuration of the manipulator they should use for a given task. Also,the different parameters associated with the complexity of the serial andparallel singularities are tabulated, which further enhance the selection ofthe different configuration of the manipulator by comparing the complexity ofthe singularity equations.

Workspace and Singularity analysis of a Delta like family robot