Singularity analysis of a 3-PRRR kinematically redundant planar parallel manipulator 1 SINGULARITY ANALYSIS OF A 3-PRRR KINEMATICALLY REDUNDANT PLANAR PARALLEL MANIPULATOR

Abstract: Finding Singular configurations (singularities) is one of the mandatory steps during the design and control of mechanisms. Because, in these configurations, the instantaneous kinematics is locally undetermined that causes serious problems both to static behavior and to motion control of the mechanism. This paper addresses the problem of determining singularities of a 3-PRRR kinematically redundant planar parallel manipulator by use of an analytic technique. The technique leads to an input –output relationship that can be used to find all types of singularities occurring in this type of manipulators