Abstract:The kinematic redundancy is considered as a way to improve the performance of the parallel mechanism. In this paper, the kinematics performance of a three degree-of-freedom parallel mechanism with kinematic redundancy (3-DOF PM-KR) and the influence of redundant parts on the PM-KR are analyzed. Firstly, the kinematics model of the PM-KR is established. The inverse solutions, the Jacobian matrix, and the workspace of the PM-KR are solved. Secondly, the influence of redundancy on the PM-KR is analyzed. Since the… Show more
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