Kinematic Performance Analysis of a 3-R(R(P)under-barRGR)RR Planar Parallel Robot

The study deals with a parallel robot structure, which is actuated by three linear actuators using a geared linkage. The main advantages of this structures having geared linkages with linear actuation give the manipulator a large rotation angle with proper transmission angle while offering the possibility of avoiding the first type singularities. The main goal of this paper is to analyze the kinematic performance of a 3-R(R (P) under bar RGR)RR planar parallel robot. By computing the performance indices, the whole space of the robot can be restrained, to leave the regions in which robot can move easily. MathWorks MATLAB was used for computing the performance indices and for visualization of the results.