This schematic illustrates the original positional configuration of a 3-Degree-of-Freedom (3-DOF) 3RPS (three-revolute-prismatic-spherical) parallel manipulator, optimized for real-time celestial tracking and scanning. The structure is characterized by a top platform with a radius of 0.47 meters and a base platform with a radius of 0.91 meters, providing an optimized stability-to-mobility ratio crucial for precise orientation control.

The linear actuators, which serve as the prismatic joints, are initially set to a length of 1.72 meters with a 15-degree inclination, giving the manipulator flexibility to achieve angular adjustments critical for tracking celestial objects across a wide range of coordinates. The actuators have an operational extension range, with a minimum length of 1.22 meters and a maximum length of 2.23 meters, which facilitates smooth vertical and angular adjustments necessary for real-time adaptation to the Earth's rotational motion. This actuator range enables the platform to tilt up to a maximum inclination angle of 70 degrees, allowing extensive orientation coverage in three-dimensional space.

The platform's configuration in this schematic represents a balanced, home-position alignment where pitch, roll, and yaw angles are at zero, signifying a neutral starting position for celestial object acquisition. The manipulator's kinematic capabilities allow it to precisely transition from this baseline posture to more complex orientations as needed for object tracking; consequently, the coordinated control of its three actuators allows the platform to maintain target alignment across all three degrees of freedom.