Determination of maximal singularity-free zones in the workspace of planar three-degree-of-freedom parallel mechanisms

Determination of the kinematically redun

Determination of the kinematically redundant active prismatic joint variable ranges of a planar parallel mechanism for singularity-free trajectories

✍ S.-H. Cha; T.A. Lasky; S.A. Velinsky 📂 Article 📅 2009 🏛 Elsevier Science 🌐 English ⚖ 868 KB

Based on its simple structure, base-fixed actuators, high payload capacity, high accuracy, and high mechanical rigidity, the 3-RRR mechanism 1 is a practical planar parallel manipulator. However, the 3-RRR mechanism is known to have singular loci within its workspace affecting its use. A recent pape