Position and Singularity Analysis of a Class of Planar Parallel Manipulators with a Reconfigurable End-Effector

Parallel robots with configurable platforms are a class of in which the end-effector has an inner mobility, so that its overall shape can be reconfigured: most cases, is thus closed-loop kinematic chain composed rigid links. These have greater flexibility their motion and control respect to rigid-platform parallel architectures, but kinematics more challenging analyze. In our work, we consider n-RRR planar robots, n links revolute joints, controlled by rotary actuators located on base mechanism. particular, study geometrical design such direct inverse for n=4, n=5 n=6; employ bilateration method, simplify analysis allows us generalize approach results obtained 3-RRR mechanism (with n>3). Then, singularity configurations these robot architectures. Finally, present from experimental tests been performed 5–RRR prototype.