Assembling Modes of a 3-RRR Planar Mechanism and Its Workspace Analysis
摘要
The paper intends to outline the influence of assembling mode on the workspace of a planar parallel mechanism taking into account both, the first type and the second type of singularities. These questions influence in an important manner the inverse and forward kinematics of this mechanism. The exemplifying mechanism for this purpose is a 3-RRR type, used as mechanical structure for robot manipulators. Some results of this study can be useful in technical education or mechanism design.