A Workspace Characterization of the 3-RRR Planar Parallel Mechanism
The paper deals with a workspace problem of the 3 RRR planar parallel mechanism, used as parallel robot structure. Depending on the dimensional parameters and constructive characteristics, the authors search to depict the shape and particularities of the mechanism workspace of a 3 RRR planar parallel mechanism. This characterization of the mechanism workspace depending on the dimensional parameters can be usefull in mechanism designing accorded to some functional particularities and also can help in avoiding singular configurations.
Ioan Doroftei, Cezar Oprisan and Aristotel Popescu
F. Buium et al., "A Workspace Characterization of the 3-RRR Planar Parallel Mechanism", Applied Mechanics and Materials, Vol. 658, pp. 563-568, 2014