Workspace Analysis of a 3 RRR Planar Mechanism

The paper intends to outline workspace of a planar parallel mechanism taking into account both: first type and second type of singularities. These questions influence in an important mode, inverse and direct kinematics of this mechanisms. The chosen mechanism for this purpose is of 3 RRR type, used as mechanical structure for a robot manipulator. Some results of this study can be useful in technical education or mechanism design.