Abstract: Redundantly actuated parallel manipulators (PMs) receive growing interest due to their reduced singularity and enlarged workspace. This paper proposes new indices for optimal design and analysis of redundantly actuated PMs ...

Abstract: This paper investigates dimensional optimization of a 2UPRRPU parallel manipulator (where U is a universal joint, P a prismatic pair, and R a revolute pair). First, the kinematics and screws of the mechanism are analyzed. ...