Geared Linkages with Linear Actuation Used as Kinematic Chains of a Planar Parallel Manipulator

The paper deals with a novel kinematic chain, which uses a geared linkage with linear actuation. The structure is used to actuate the mobile platform of a parallel planar manipulator (3-RRR). The main characteristics of the geared linkage with linear actuation are the large rotation angle with proper transmission angle and the approximately linear transmission function in a large range. These properties of the geared linkages with linear actuation as kinematic chain allow the avoiding of the first type singularities and an easier control of the mobile platform movement.

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