Planar Parallel Robots
Symmetric parallel mechanisms for which the number of chains is strictly equal to the number of degrees of freedom of the end-effectors are called fully parallel manipulators. Planar parallel robots are useful for manipulating an object on a plane. A mechanism is said to be a planar robot if all the moving links in the mechanism perform planar motions. For a planar mechanism, the loci of all points in all links can be drawn conveniently on a plane. In a planar linkage, the axes of all revolute joints must be normal to the plane of motion, while the direction of translation of a prismatic joint must be parallel to the plane of motion.
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