Tsinghua University Press Ltd. - Workspace analysis of the 4RRR planar parallel manipulator with actuation redundancy

Author(s): Boqiang Xu ; Tiemin Li ; Xinjun Liu ; Jun Wu
Publisher: Tsinghua University Press Ltd.
Publication Date: 1 October 2010
Volume: 15
Page(s): 509 - 516
ISSN (Electronic): 1007-0214
DOI: 10.1016/S1007-0214(10)70094-8

In order to overcome the drawbacks of 3RRR non-redundant parallel manipulators, a redundantly actuated planar parallel manipulator, the 4RRR manipulator, was examined. In the current study, three... View More