Increasing the effective workspace of the planar 3-RRR mechanism by using kinematic redundancy

Abstract

Abstract A significant issue of parallel mechanisms is the existence of singularities where the end-effector can lose their mobility or cannot be controlled. The closeness to singularities affects the performance of the mechanism, for example, the actuation efforts increase, thus reducing the effective workspace of the mechanism. Kinematic redundancy can be used for avoiding the singularity and increase the effective workspace. The approach is considered on the example of a planar 3-RRR mechanism.